Computes attitude..ie YPR using Kalman Filter and complemntry filter using ARM cortex m3 based STM32F103x and MPU6050. Gives real world acceleration, obtained via vector rotation in 3 dimensions using Quaternions. Currently working on to elimnate Yaw drift using mangetometer..and position and velocity estimates.

more info on: https://tachymoron.wordpress.com/