• Hi,

    In my understanding, APM deals with 6 Degrees of Freedom and it uses the concept of Kinematics for stabilization and does not take into account the dynamics of the flight. For 10 DOF, I think you would have to do your own R & D and alter the code to your needs.

    Currently APM uses:

    - DCM (Direction Cosine Matrix) by William (Bill) Premerlani (google)

    - Quaternion

    - Kalman Filter (not implemented I think)

    In my opinion, you can use Kalman filter to implement 10 DOF, rather than others. Might give you a better result on a faster processor.

    All the best!

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