Pixhawk飞控基于四元数的姿态解算源码，方法简单有效-Pixhawk flight control based on quaternion attitude algorithm source code, the method is simple and effective

基于惯性传感器的姿态解算，输出四元数和欧拉角，常用于惯性导航。-Based on the attitude of the inertial sensor, the output of four elements and Euler angles, commonly used in inertial navigation.