Share 'trying to implement DCM...'

Hi, all I have read William Premerlani's theory paper several times and a lot of it is beginning to soak in, but I must be missing somthing in my implementation. I am trying to keep an accurate view of earth-relative pitch and roll angles on an embedded device with 3 axis of rate gyros and 3 axis of accelerometers. My approach is apparently flawed, and I'd appreciate any and all feedback. The…