ArduPilot reverse engineering #1

its been a long time, from drone development and also from electronics and blogging, let it go,

tonight it is ardupilot time, I have seen some algorithms working like get position and velocity from accelerometer data but haven't found anything yet. so was surfing through the code and found that AP_InertialNavEKF.h library is just fallback library for the ardupilot to switch between ekf and normal mode.
a comment from first line

/*

 A wrapper around the AP_InertialNav class which uses the NavEKF

 filter if available, and falls back to the AP_InertialNav filter

 when EKF is not available

 */

/**

now working on how can I implement on my own drone since my plans are different

from ardupilot. so here i am now sleepless nights and go on until I finally make my 

quadcopter (the only incomplement project left).

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