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http://mbed.org/handbook/SerialPC http://mbed.org/handbook/No-USB-serial-FAQ http://code.google.com/p/imumargalgorithm30042010sohm/ http://www.x-io.co.uk/node/8#open_source_imu_and_ahrs_algorithms http://mbed.org/cookbook/IMU http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
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