first commit

utils/quat.h

@@ -0,0 +1,15 @@
+#pragma once
+
+struct Vec3 { float x, y, z; };
+
+struct ORI
+{
+  float sinX, sinY, cosZ; // Earth's plane tilt
+  float Pitch, Roll, Yaw; // Sovereign orientation (not Euler)
+  float IneX, IneY, IneZ; // Inertial accelerations
+};
+
+ORI WorkAccGyroMag(const Vec3 acc, const Vec3 gyr, const Vec3 mag, const float mag_shift, const float alpha);
+
+Vec3 RotateToZ(const Vec3 vec, bool Rev=false);
+void QuatGoToZero();