"Hi,

In the ArduIMU code, the DCM attitude and the drift correction modules are orthogonal and symmetrical in all 3 axes, and all gyros - pitch, roll and yaw are drift-corrected by the gravity vector obtained from the 3 accelerometers.

If the…"

"Dear Bill,

Thank you for the excellent work that you, Paul and Louis has done for us drone diy'ers in deriving and formulating the complementary DCM attitude estimator using gyros, accelerometers and GPS data.

I am happily porting over your DCM…"