This is a demonstration of complementary filters on pitch and roll attitude using 3gyroscopes and 3 accelerometers running on a custom Quadrotor controller board. Filters are coded in Python on the laptop with VPython rendering of spinning 3D cubes. Sensor processing code is running on the ATMega644p-based controller and is written in C. For Python code, see: http://www.rcgroups.com/forums/showpo... For details on the custom Quadrotor sensor board, look here: http://sites.google.com/site/pushpakq...
I know its not as impressive as DCM, but you have to start somewhere :-)
(Inspired by Brian Wolfe's demo- http://www.diydrones.com/video/pic32-autopilot-attitude)