[lbraasch]

The writer would benefit greatly from the Ardiuno community. Most of this stuff is open-source code. Quite possibly, some of the authors solutions were learned from it. However, no credit was issued for where the author learned most of their lessons.

I do appreciate the layperson's explanation of an attitude system applied to a smartphone/tablet. Many do not realize just how powerful these mobile devices actually are.

[kijiki]

The Arduino community did not invent the Kalman filter or sensor fusion.

[ChuckMcM]

No, but they have aggressively applied them to self balancing robots which have many of the same issues as the author is dealing with (isolating actual up vector from acceleration vectors etc)

[fotbr]

And they're not the only ones to have done so. Adruinos aren't the be-all and end-all of embedded systems, and most projects do not need to give them any credit whatsoever.