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Pre project questions thread (quad copter)

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Ok looking into this I am going to have to step back a bit, this cosine matrix what do I need to study? I am thinking trigonomics, is this correct? very sorry for the stupid question but we have yet to do anything like that at School, I dont mind studying at home but I need to have a rough idea where my star point is. I found loads on cosine matrices, but its above my level so I need to know where to start?
If I make assumptions then to me its just angles therefore my point to start is triangles and trigonometry, I assume that the cosine matrices are a way of looking at the desired angle and the actual angle and applying a correction factor????
Am I anywhere near close on this? If I know I am on the right track I can steam in and study it:D
Thanks for the patience I know this makes me look stupid but we just havnt covered this in School yet.
 
Bah using wrong terms!!!!! its geometry I need to be doing
 
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