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Vector Localizer

This Sub-assembly will take an input, global space vector (composite signal) and output a vector which is local to the craft, accounting for roll pitch and yaw. The input and outputs are on the 1x3 microcontroller.
note - as is standard for vector maths, y and z may be swapped compared to what you are used to. Z is the up/down axis, and Y is the north/south axis.