> 3. The FDAI's signals are more complicated than I described above. Among
> other things, the IMU's gimbal angles use a different coordinate system from
> the FDAI, so an electromechanical unit called GASTA (Gimbal Angle Sequence
> Transformation Assembly) used resolvers and motors to convert the
> coordinates.
This really isn't that different than many software tasks, just a different set of basic tools and jargon. When non computer people read a Haskell article that's how it sounds to them.
I'm willing to bet that these days, that transformation would be done in software! If you have to drive the ball, you'll still need the motors, and the resolvers for feedback, but the coordinate system transformation is "just math."
