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@@ -16,8 +16,7 @@ However due to high accelerometer noise and low sample frequency I do not have h
 
 ## TODO
 
-* Tilt compensation. No magnetometer needed as we only need vertical projection of acceleation. Mahony algorithm using accel and gyro (without mag) should be enough. Existing github MahonyAHRS implementations need to be modified to take delta_t in update(), instead of assuming fixed sample frequency in integration.
-
+* Tilt compensation. No magnetometer needed as we only need vertical projection of acceleation. Mahony algorithm using accel and gyro (without mag) is enough. Test implemented quaternion rotation for esimating vertical acceleration
 * Rolling min/max algorithm with window
 of about three wave periods samples to produce wave height measurement
 Algorithm: https://github.com/lemire/runningmaxmin