"Alright, now I have clear. Another doubt I have is, according to your filter, in order to use some real data, it has to be done filling the "uavSensors.gyro_wb_rps", "uavSensors.accel_fb_mps2" and "uavSensors.mag3D_unitVector_in_body" arrays…"

"Hi Jeff, thanks for your reply. In any case, one of the angles must be always between [-90,+90], and when you reach this value the other two angles do some kind of rotation due the gimbal lock, so it's impossible to represent the three angles…"

"Really nice work! Congrats! I would like to ask you one question, pitch angle values are within the range [-pi/2, +pi/2] in Euler representation due the singularity when approaching to +-90 degrees. I've tested your code using pre-stored data from…"