nixpulvis/quadrocopter — pull request #19 by nixpulvis (2013-07-04 07:17:26+00:00)
Title: IMU Visualization (motion fusion)

# Arduino Firmware

Currently the Arduino is doing most of the work. :clap: This entails all data processing to get a non-drifting rotation as a quaternion. It then sends the quaternion over serial the 4 values that make up the 4D vertex in the form `w\tx\ty\tz`.

# Ruby / OpenGL

Just a tiny bit of work to convert a quaternion into a rotation matrix for OpenGL to render the proper rotation.