1. Propeller DCM

    This is a Parallax Propeller chip running a partial implementation of Premerlani and Bizard's work on Direction Cosine Matrix computation for orientation sensing. (Check out [URL="http://diydrones.com/profiles/blog/show?id=705844%3ABlogPost%3A77893&commentId=705844%3AComment%3A335176&xg_source=activity"]their paper on DIYDrones[/URL]) I'm hoping to use this in a quad-rotor without a GPS or magnetometer - I wanted to see how good the algorithm was at stabilizing pitch and roll. ...