User:Cyberoidx/sandbox


 * $$\begin{align}

gyroRate &= \left(\frac{gyroADC-gyroZero}{Sensitivity}\right)\\ q_2 &= e_y\sin\left(\frac{\theta}{2}\right)\\ q_3 &= e_z\sin\left(\frac{\theta}{2}\right)\\ q_4 &= \cos\left(\frac{\theta}{2}\right) \end{align}$$