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diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.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/>.
+
+*/
+
+//Computes the dot product of two vectors
+float Vector_Dot_Product(float vector1[3],float vector2[3])
+{
+  float op=0;
+  
+  for(int c=0; c<3; c++)
+  {
+  op+=vector1[c]*vector2[c];
+  }
+  
+  return op; 
+}
+
+//Computes the cross product of two vectors
+void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3])
+{
+  vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
+  vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
+  vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
+}
+
+//Multiply the vector by a scalar. 
+void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2)
+{
+  for(int c=0; c<3; c++)
+  {
+   vectorOut[c]=vectorIn[c]*scale2; 
+  }
+}
+
+void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3])
+{
+  for(int c=0; c<3; c++)
+  {
+     vectorOut[c]=vectorIn1[c]+vectorIn2[c];
+  }
+}
+
+
+