diff --git a/Source/INS/geometry/quaternion.c b/Source/INS/geometry/quaternion.c
new file mode 100644
index 0000000..27e3f04
--- /dev/null
+++ b/Source/INS/geometry/quaternion.c
@@ -0,0 +1,4 @@
+#include "quaternion.h"
+
+
+
diff --git a/Source/INS/geometry/quaternion.h b/Source/INS/geometry/quaternion.h
new file mode 100644
index 0000000..9e90631
--- /dev/null
+++ b/Source/INS/geometry/quaternion.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#ifndef QUATERNION_H
+#define QUATERNION_H
+
+
+
+
+#endif
+
diff --git a/drone.ewp b/drone.ewp
index def56da..50f8277 100644
--- a/drone.ewp
+++ b/drone.ewp
@@ -362,6 +362,7 @@
                     <state>$PROJ_DIR$\Source\Core\Inc</state>
                     <state>$PROJ_DIR$\Source\BSP\Inc</state>
                     <state>$PROJ_DIR$\Source\Control\Inc</state>
+                    <state>$PROJ_DIR$\Source\INS\geometry</state>
                 </option>
                 <option>
                     <name>CCStdIncCheck</name>
@@ -2367,6 +2368,18 @@
                 </group>
             </group>
         </group>
+        <group>
+            <name>INS</name>
+            <group>
+                <name>geometry</name>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\quaternion.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\quaternion.h</name>
+                </file>
+            </group>
+        </group>
         <file>
             <name>$PROJ_DIR$\Source\main.c</name>
         </file>
diff --git a/drone.ewt b/drone.ewt
index d7c7a02..d933eb9 100644
--- a/drone.ewt
+++ b/drone.ewt
@@ -3552,6 +3552,18 @@
                 </group>
             </group>
         </group>
+        <group>
+            <name>INS</name>
+            <group>
+                <name>geometry</name>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\quaternion.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\quaternion.h</name>
+                </file>
+            </group>
+        </group>
         <file>
             <name>$PROJ_DIR$\Source\main.c</name>
         </file>