%   This is an Attitude and Heading Refrence System (AHRS) using IMU
%   This is a stationary AHRS scenario with attitude calculation only.
%   Velocity, and psoition calculation is not given in this version.

%   Copyright (C) 2018, Mohamed Atia, all rights reserved.
%   The software is given under GNU Lesser General Public License
%   This program is distributed in the hope that it will be useful,
%   but WITHOUT ANY WARRANTY; without even the implied warranty of
%   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%   GNU Lesser General Public License for more details.
%
%   You should have received a copy of the GNU Lesser General Public
%   License along with this program. If not, see
%   <http://www.gnu.org/licenses/>.

%   For commercial use, please contact [email protected]

%   DEMO on youtube https://youtu.be/9i4aaN6PWnw
%   
%   For citing please use the following citation
M. M. Atia, “A sample usage of EMS Symbolic Engine for sensor fusion with application on Attitude and Heading Reference Systems (AHRS),” DOI:10.5281/zenodo.1135234, Open source project, January 2018