@aparrish @joshmillard i had to do some lightweight geospatial reasoning in code for a project a while back[0] and at one point as i stared angrily at a big sheet of paper with a lot of scribbling on it i'm pretty sure my smug partner with her smug math degree said something about quaternions and my brain shorted out.

[0]. https://learn.adafruit.com/glitter-positioning-system/circuitpython-code