Nicolas Hamilton has been exceeding expectations since day one.

Born with a form of cerebral palsy, Nicolas was told that he would never walk and would need a wheelchair for the rest of his life. Today he not only walks everywhere but he is the first disabled athlete to ever compete at the top level of British motorsport, The British Touring Car Championship, where he lines up on the grid alongside some of the world's best drivers.

Now That I Have Your Attention follows Nicolas's remarkable journey and shares the valuable, tough, and often surprising lessons learned throughout his life.

Nicolas's journey has at times been hostile and has forced him to navigate periods of anger and resentment, but by building his mental strength and pushing himself beyond the physical limits of what anyone had ever expected of him, Nicolas has changed his life - and believes you can too.

With each of these 7 Lessons, Nicolas's message is simple and universal: with self-discipline and self-compassion you can defy the limitations imposed upon you.

Nicolas Hamilton has been exceeding expectations since day one. Born with a form of cerebral palsy, Nicolas was told that he would never walk and would need a wheelchair for the rest of his life. Today he not only walks everywhere but he is the first disabled athlete to ever compete at the top level of British motorsport, The British Touring Car Championship, where he lines up on the grid alongside some of the world's best drivers. Now That I Have Your Attention follows Nicolas's remarkable journey and shares the valuable, tough, and often surprising lessons learned throughout his life. Nicolas's journey has at times been hostile and has forced him to navigate periods of anger and resentment, but by building his mental strength and pushing himself beyond the physical limits of what anyone had ever expected of him, Nicolas has changed his life - and believes you can too. With each of these 7 Lessons, Nicolas's message is simple and universal: with self-discipline and self-compassion you can defy the limitations imposed upon you.

The work of this thesis focuses on the IMU and getting the best performance possible out of the IMU to achieve better long term stability and a better navigation solution. This is done in two ways. First, the IMU accelerometer output is examined to determine if it is possible to use accelerometers to determine attitude. If the quadrotor is stationary or moving at constant velocity, the roll and pitch angles can be determined. Additionally, the accelerometers can be used to determine angular accelerations and angular rates which are integrated to determine heading. The second approach models the quadrotor and uses the models in Kalman Filters along with the IMU measurements to determine the best possible navigation solution.