freeware http://www.muresearchlab.com			The AHRS Library (Attitude Heading Reference System) is a set of Max externals that allows you to perform a series of basic calculations for 3D/4D vectorial math used in aerodynamics. If you are using a three axis accelerometer and a three-axis magnetometer check out the"ahrs_triad" object which enables you to find the orientation of your cluster of sensor with respect to the Earth fixed coordinates.
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ahrs_aed2xyz.mxo	External		convert azimuth/elevation/distance to Cartesian XYZ
ahrs_axis2quat.mxo	External		convert angle/axis to quaternion
ahrs_gyro_orientation.mxo	External		estimate orientation from 3-axis gyroscopes
ahrs_matrix2quat.mxo	External		convert 3x3 matrix to quaternion
ahrs_quat2axis.mxo	External		convert quaternion to angle/axis
ahrs_quat2matrix.mxo	External		convert quaternion to 3x3 matrix
ahrs_quatadd.mxo	External		quaternions addition
ahrs_quatconj.mxo	External		calculate conjugate of quaternion
ahrs_quatdiv.mxo	External		quaternions division
ahrs_quatinv.mxo	External		calculate the inverse of quaternion
ahrs_quatmagn.mxo	External		calculate the magnitude of quaternion
ahrs_quatmult.mxo	External		quaternions multiplication
ahrs_quatnormalize.mxo	External		normalise quaternion
ahrs_quatsub.mxo	External		subtract two quaternion
ahrs_triad.mxo	External		triad algorithm for attitude estimation
ahrs_vecadd.mxo	External		vector addition
ahrs_veccross.mxo	External		vector cross multiplication
ahrs_vecdot.mxo	External		vector dot product
ahrs_vecmagn.mxo	External		vector magnitude
ahrs_vecmagncross.mxo	External		vector magnitude of cross product
ahrs_vecnormalize.mxo	External		normalise vector
ahrs_vecsub.mxo	External		vector subtraction
ahrs_xyz2aed.mxo	External		convert Cartesian XYZ to azimuth/elevation/distance
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