tree 759732e19eaa05c365b2c92f0add66a9dd878e30
parent 984826cc158193e61e3a00359ef4f6699c7d748a
author Mathias Agopian <mathias@google.com> 1306545493 -0700
committer Mathias Agopian <mathias@google.com> 1340842075 -0700

use quaternions instead of MRPs

also use correct time propagation equation
disable the fused sensors when gyro is not present since
they were unusable in practice.

Change-Id: Iad797425784e67dc6c5690e97c71c583418cc5b5