Hi, I have a question about c_rotate().

As far as I know it uses quaternion rotation to get rid of lock conditions when just using pan/tilt/roll addition.

I have the same problem now (not in A7) and I've come that far: http://de.wikipedia.org/wiki/Quaternion

...and then I was lost.
Now the simple question: Any chance to have a peek at what c_rotate does?