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--- a/Drivers/CMSIS/DSP/Include/dsp/quaternion_math_functions.h
+++ b/Drivers/CMSIS/DSP/Include/dsp/quaternion_math_functions.h
@@ -0,0 +1,159 @@
+/******************************************************************************
+ * @file     quaternion_math_functions.h
+ * @brief    Public header file for CMSIS DSP Library
+ * @version  V1.10.0
+ * @date     08 July 2021
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ ******************************************************************************/
+/*
+ * Copyright (c) 2010-2021 Arm Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+ 
+#ifndef _QUATERNION_MATH_FUNCTIONS_H_
+#define _QUATERNION_MATH_FUNCTIONS_H_
+
+#include "arm_math_types.h"
+#include "arm_math_memory.h"
+
+#include "dsp/none.h"
+#include "dsp/utils.h"
+
+
+#ifdef   __cplusplus
+extern "C"
+{
+#endif
+
+/**
+ * @defgroup groupQuaternionMath Quaternion Math Functions
+ * Functions to operates on quaternions and convert between a
+ * rotation and quaternion representation.
+ */
+
+
+/**
+  @brief         Floating-point quaternion Norm.
+  @param[in]     pInputQuaternions       points to the input vector of quaternions
+  @param[out]    pNorms                  points to the output vector of norms
+  @param[in]     nbQuaternions           number of quaternions in each vector
+  @return        none
+ */
+
+
+
+void arm_quaternion_norm_f32(const float32_t *pInputQuaternions, 
+    float32_t *pNorms,
+    uint32_t nbQuaternions);
+
+
+/**
+  @brief         Floating-point quaternion inverse.
+  @param[in]     pInputQuaternions            points to the input vector of quaternions
+  @param[out]    pInverseQuaternions          points to the output vector of inverse quaternions
+  @param[in]     nbQuaternions                number of quaternions in each vector
+  @return        none
+ */
+
+void arm_quaternion_inverse_f32(const float32_t *pInputQuaternions, 
+    float32_t *pInverseQuaternions, 
+    uint32_t nbQuaternions);
+
+/**
+  @brief         Floating-point quaternion conjugates.
+  @param[in]     pInputQuaternions            points to the input vector of quaternions
+  @param[out]    pConjugateQuaternions        points to the output vector of conjugate quaternions
+  @param[in]     nbQuaternions                number of quaternions in each vector
+  @return        none
+ */
+void arm_quaternion_conjugate_f32(const float32_t *inputQuaternions, 
+    float32_t *pConjugateQuaternions, 
+    uint32_t nbQuaternions);
+
+/**
+  @brief         Floating-point normalization of quaternions.
+  @param[in]     pInputQuaternions            points to the input vector of quaternions
+  @param[out]    pNormalizedQuaternions       points to the output vector of normalized quaternions
+  @param[in]     nbQuaternions                number of quaternions in each vector
+  @return        none
+ */
+void arm_quaternion_normalize_f32(const float32_t *inputQuaternions, 
+    float32_t *pNormalizedQuaternions, 
+    uint32_t nbQuaternions);
+
+
+/**
+  @brief         Floating-point product of two quaternions.
+  @param[in]     qa       First quaternion
+  @param[in]     qb       Second quaternion
+  @param[out]    r        Product of two quaternions
+  @return        none
+ */
+void arm_quaternion_product_single_f32(const float32_t *qa, 
+    const float32_t *qb, 
+    float32_t *r);
+
+/**
+  @brief         Floating-point elementwise product two quaternions.
+  @param[in]     qa                  First array of quaternions
+  @param[in]     qb                  Second array of quaternions
+  @param[out]    r                   Elementwise product of quaternions
+  @param[in]     nbQuaternions       Number of quaternions in the array
+  @return        none
+ */
+void arm_quaternion_product_f32(const float32_t *qa, 
+    const float32_t *qb, 
+    float32_t *r,
+    uint32_t nbQuaternions);
+
+/**
+ * @brief Conversion of quaternion to equivalent rotation matrix.
+ * @param[in]       pInputQuaternions points to an array of normalized quaternions
+ * @param[out]      pOutputRotations points to an array of 3x3 rotations (in row order)
+ * @param[in]       nbQuaternions in the array
+ * @return none.
+ *
+ * <b>Format of rotation matrix</b>
+ * \par
+ * The quaternion a + ib + jc + kd is converted into rotation matrix:
+ *   a^2 + b^2 - c^2 - d^2                 2bc - 2ad                 2bd + 2ac
+ *               2bc + 2ad     a^2 - b^2 + c^2 - d^2                 2cd - 2ab
+ *               2bd - 2ac                 2cd + 2ab     a^2 - b^2 - c^2 + d^2
+ *
+ * Rotation matrix is saved in row order : R00 R01 R02 R10 R11 R12 R20 R21 R22
+ */
+void arm_quaternion2rotation_f32(const float32_t *pInputQuaternions, 
+    float32_t *pOutputRotations, 
+    uint32_t nbQuaternions);
+
+/**
+ * @brief Conversion of a rotation matrix to equivalent quaternion.
+ * @param[in]       pInputRotations points to an array 3x3 rotation matrix (in row order)
+ * @param[out]      pOutputQuaternions points to an array of quaternions
+ * @param[in]       nbQuaternions in the array
+ * @return none.
+*/
+void arm_rotation2quaternion_f32(const float32_t *pInputRotations, 
+    float32_t *pOutputQuaternions,  
+    uint32_t nbQuaternions);
+
+#ifdef   __cplusplus
+}
+#endif
+
+#endif /* ifndef _QUATERNION_MATH_FUNCTIONS_H_ */