I was out at sea on a cable layer for a few months, so I've been away from micros for a while. I like the progress that's been made using DCM. I'd like to implement a Propeller Chip DCM object using assembly. Before I start, is anyone already working on this? And, is there anyone familiar with the math that would like to collaborate? I can do most of the assembly programming, but I'm still not great with linear algebra. I'd like to use magnetometers for yaw corrections, not GPS.