"Serge,

I can't give the details or the data, as I'm under an NDA---but suffice to say, in our testing here at PAS we encountered similar scaling defects to the positional data (due to accelerometer scaling, perhaps?), which was unable to be…"

"You mention there has been some change to the code----yet two years later, it seems the source code has not been updated. In the versions of this C-code you claim to have found, was there any change to the Gyroscope Heading code? Your reference and…"