SBOX = [0xe, 0x4, 0xd, 0x1, 0x2, 0xf, 0xb, 0x8, 0x3, 0xa, 0x6, 0xc, 0x5, 0x9, 0x0, 0x7] PBOX = [0x0, 0x4, 0x8, 0xc, 0x1, 0x5, 0x9, 0xd, 0x2, 0x6, 0xa, 0xe, 0x3, 0x7 ...
qx = math.sin(roll/2) * math.cos(pitch/2) * math.cos(yaw/2) - math.cos(roll/2) * math.sin(pitch/2) * math.sin(yaw/2) qy = math.cos(roll/2) * math.sin(pitch/2) * math ...
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