"Great works! But I do not understand why do you calculating the gyro angle (in radians) through integration? Why not quaternions ? Are you just test your circuits?"

"I am interested in the Line following algorithm. I used to write my code in C, the Delphi code may be a little difficult to me. : ) Thank you!"

"The update rate should be at least 20Hz. And I want to know is there any method to improve the caculate rate?Except the hardware floating point unit. I will try to port my programs to ARM9 later.Thanks."

"I have writen the Kalman filter codes in C on my MCU LPC2114 ,but it seems that my MCU is not strong enough to run the codes. My 12 states SINS/GPS integration system can not work correctly, and the time the filter costs is too long. Has any body…"

"How can you control the plane's attitude? I can not see any pitch and roll information on your vedio. By the way that is a wonderfull work.One of my friends are working on the same field. He plans to build the simulator in 3D type with OpenGL.…"