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Dan commented on Brian Wolfe's blog post Pic32 Autopilot Progress.
"How does the attitude estimator work? Are you just sampling signals or is there some sort of state-estimation going on? I couldn't find an answer in your other posts.

If you post some data for us, I might be able to you help you out some. I've done…"
May 25, 2009
Dan replied to Achal Agrawal's discussion Navigation calculations??
"I know this is an ancient thread, but a great source for this is
http://williams.best.vwh.net/avform.htm

The PIC18 will definitely limit you to the flat-earth approximations."
May 25, 2009