User:Cyberoidx/sandbox

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{\begin{aligned}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{aligned}}