[Rpifirst]

I know that 190 was going to write a white paper or rather we thought we should. Tommorow I will ask the lead designer of the INS about it for you. I know however that the we used a prefab mini controller along with some two axis accelerometers that I believe are normally sold in mass quanities. Also I know that it took a team of 4-5 the six week's to do altogether.