Josh Leverette's picture

I spent time this evening discussing quaternions with a friend who has a masters in mathematics, and I believe we narrowed down what needs to be done, but his area of expertise is not quaternions, so we did not get the problem solved. I'm still awaiting a reply from my mentor to the email I sent last night. At this point, I intend to begin pursuing a solution through converting quaternions back into Euler angles and using those angles to rotate the accelerometer data back into the inertial reference frame, which will allow me to make progress. I am uncertain if that tactic will suffer from gimbal lock, since the device's orientation is being maintained in a quaternion and I will be using the gyro data to directly update the quaternion, rather than dealing with euler angles there. I expect to make significantly more progress starting next week.