Fast Quaternion Integration for Attitude Estimation

  One of the central challenges in creating a flying machine control system is attitude estimation.  The better the estimate, more correctly the control system can make flight adjustments.  The better theses adjustments are, the better the aircraft can go where it's supposed to go or stay where it is wanted.
  I will be writing a series of blog posts that go into detail describing how I have chosen to design my IMU complementary filter for attitude estimation.  Each post will introduce a new sensor and explain how I use it to enhance the output of my system.  To begin with I will start with the gyroscope.