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ardupilot
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https://github.com/ArduPilot/ardupilot
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ardupilot
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libraries
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AP_NavEKF
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…
..
ConvertToC.m
…
ConvertToM.m
…
EulToQuat.m
…
NormQuat.m
…
OptimiseAlgebra.m
…
Quat2Tbn.m
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QuatDivide.m
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QuatMult.m
…
QuatToEul.m
…
RotToQuat.m
…