Add additional worked examples for converting Tait-Bryan deviceorientation data to Rotation Matrixes and Quaternion formats (+ add JS code examples of usage).
Improve MathML output formatting
Add consistency checks to provided Rotation Matrix and Quaternion representations
Update rotation matrix nomenclature to avoid conflict with R rotation vector defined elsewhere in spec
Update rotation matrix nomenclature in img alt attributes
Update quaternion nomenclature in spec
Update rotation vector and rotation matrix notation in spec examples
Return degrees instead of radians in compassHeading() JavaScript function example
Return a 3x3 matrix (instead of a 4x4 matrix) as per the formula provided in the spec in the example getRotationMatrix() JavaScript function example
Re-phrase the 'Alternate device orientations' introduction to be more clear.
Remove consistency check of deriving original Tait-Bryan angles directly from the rotation matrix as we already have the compass heading example doing a consistency check
Remove un-used commented sections from the spec
Remove intermediate rotation vector derivation functions as surplus to explanation
Remove un-used equations from repository (Equations 10, 11 and 12 are un-used in the spec and are duplicates Equations 2, 3 and 4 respectively)
Minor typo fix s/inital/initial/
Update compassHeading JavaScript function example from using Rx, Ry to Vx, Vy respectively in line with the formulas provided in the spec
Enclose JavaScript example code in a div.example element
Simplify worked example notation and equations and clarify JavaScript method success conditions
Fix Lagrange's four-square theorem equation in spec
Simplify text used to describe rotation matrix and quaternion conversion