/* Sets the elements of the DCM matrixto the corresponding elements of the identity matrix.  */
void IMU_dcmReset(float dcm[3][3])
/* Sets the elements of the DCM matrixto the corresponding elements of the identity matrix.  */
void IMU_dcmReset(float dcm[3][3])
{
   int x, y;
   for( y = 0; y < 3; y++ ) {
      for( x = 0; x < 3; x++ ) {
         dcm[y][x] = ( x == y ) ? 1 : 0;
      }
   }
   return;
}