ArisDrone

This is the main note for my ArisDrone project

This note shows how to use quaternions to track a drone’s 3D orientation in a clean, implementation‑friendly way, starting from gyroscope data and then correcting drift with the accelerometer (and later the magnetometer). It walks through the math and the approximations step by step, so you can turn raw IMU readings into a stable attitude estimate that actually runs on an embedded controller.

TLDR : This note introduces quaternions as the natural 4D extension of complex numbers for handling 3D rotations, starting from the familiar 2D case. It shows how to build rotation quaternions and apply them to vectors, giving you a clean, mathematically sound way to represent orientations and rotations in 3D space without relying on Euler angles.