trouble with assumptions of gait

[zhengyue-dong]

I have been confused about assumptions of gait since I finish computing quaternions. wish someone help me. thanks a milllion.

[pajaraca]

what do you mean by assumption of gait? if you mean something like if the foot is on the floor or moving, it happens here:
% Threshold detection
stationary = acc_magFilt < 0.05;
When acc magnitude is below this threshold, it infers sensors signals are just noise.