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diff --git a/CODE/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino b/CODE/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino
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+++ b/CODE/debugprewk/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino
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+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011-2016 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**************************************************/
+//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!). 
+void Matrix_Multiply(float a[3][3], float b[3][3], float mat[3][3])
+{
+  for(int x = 0; x < 3; x++)
+  {
+    for(int y = 0; y < 3; y++)
+    {
+      mat[x][y] = 0;
+      
+      for(int w = 0; w < 3; w++)
+      {
+        mat[x][y] += a[x][w] * b[w][y];
+      } 
+    }
+  }
+}
+
+