"You do understand that this won't work in an airplane?! Once you subject it to any form of acceleration it is useless--worse than useless, it is dangerous. Their promise to 'look at' making it actually work other than standing still means,…"

"So...did you use real flight geometry to compensate for acceleration....or just cheat and pretend z<=1?"

"Truly awe-inspiring! This, not NASA (god love'm), is what we've been dreaming about since we were children: spaceflight tempered only by ingenuity. Go Team SpaceX! Congrats Elon."

"Jordi,

Your Kalman implementation looks to be identical to tilt.c…so…

How do you solve lateral acceleration? In an aircraft z may remain constant (coordinated turn) and y or x may change proportionally when skidding (lateral acceleration) or…"