File content as of revision 10:f5ba762b58b4:

/* -----------------------------------------------------------------------------
/* ADXL calibration equation
/* -----------------------------------------------------------------------------

|acx|   |pxx pxy pxz| |ax| |bx|
|acy| = |pyx pyy pyz|*|ay|+|by|
|acz|   |pzx pzy pzz| |az| |bz|

Rotation matrix
z axis pointing down -  downwards pointing gravity vector of magnitude 1 g
The yaw rotation is about the positive z axis, the pitch rotation is about the
positive y axis and the roll rotation is about the positive x axis

/* -----------------------------------------------------------------------------
/* ADXL calibration procedures
/* -----------------------------------------------------------------------------

2 MEASUREMENT ORIENTATIONS: the orientations are selected to give an equal 
posit5ive gravitational filed of g/sqrt(3) in each axis followed by -g/sqrt(3) 
in each axis
We assumed that pij=0 when i!=j


3to8 MEASUREMENT ORIENTATIONS


12 MEASUREMENT ORIENTATIONS