Tweak IP detection
Start of experiment with GY-80 I2C sensor for orientation
Attempt to turn North/East/Down (NED) rotation matrix into quaternion
Quarternion <--> Euler Angles
Comparing Euler angles to Christoph Gohlke's (agrees with 'rzxy' axes)

See http://www.lfd.uci.edu/~gohlke/code/transformations.py.html
and http://www.lfd.uci.edu/~gohlke/code/transformations.py