Hi All...

I'm new to the list. :-)

My name is Mateus, I'm an Engineer and work with marine autopilots.

Well... I've already got a question...

I've developed a compass for use in vessels.
Ok.. at the first version I had my compass working, using Eulers' for tilt compensation (heading reference). And using my Z-axis gyro for tracking (output heading itself). (I had an 1 axis gyro)

Now I've got a version 2 board, with 3-axis gyro and I want to use it as in its best...

My doubt...

When flat "100%" of the yaw movement is on the Z-axis sensor. But when the board tilts, the yaw movement is "divided" between 2, or the 3 axis of the gyro, right? (And I can see that just looking the gyro's output.) But I'm not sure how much of "each" axis to use....

The yes/no question:

Using Quaternions is the answer for my problem?

The maybe part:
Is it possible to implement (is there a known formula) that uses Gyro's X,Y and Z, and pitch and roll (from the 3axis Acc) to do that?

Thank you all,

Regards

Mateus