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diff --git a/Drivers/CMSIS/DSP/Source/QuaternionMathFunctions/arm_rotation2quaternion_f32.c b/Drivers/CMSIS/DSP/Source/QuaternionMathFunctions/arm_rotation2quaternion_f32.c
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+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_rotation2quaternion_f32.c
+ * Description:  Floating-point rotation to quaternion conversion
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * 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.
+ */
+
+#include "dsp/quaternion_math_functions.h"
+#include <math.h>
+
+#define RI(x,y) r[(3*(x) + (y))]
+
+
+/**
+  @ingroup QuatConv
+ */
+
+/**
+  @defgroup RotQuat Rotation to Quaternion
+
+  Conversions from rotation to quaternion.
+ */
+
+/**
+  @addtogroup RotQuat
+  @{
+ */
+
+/**
+ * @brief Conversion of a rotation matrix to an equivalent quaternion.
+ * @param[in]       pInputRotations points to an array 3x3 rotation matrix (in row order)
+ * @param[out]      pOutputQuaternions points to an array quaternions
+ * @param[in]       nbQuaternions number of quaternions in the array
+ * @return none.
+ *
+ * q and -q are representing the same rotation. This ambiguity must be taken into
+ * account when using the output of this function.
+ * 
+ */
+
+#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+#define R00  vgetq_lane(q1,0)
+#define R01  vgetq_lane(q1,1)
+#define R02  vgetq_lane(q1,2)
+#define R10  vgetq_lane(q1,3)
+#define R11  vgetq_lane(q2,0)
+#define R12  vgetq_lane(q2,1)
+#define R20  vgetq_lane(q2,2)
+#define R21  vgetq_lane(q2,3)
+#define R22  ro22
+
+void arm_rotation2quaternion_f32(const float32_t *pInputRotations, 
+    float32_t *pOutputQuaternions,  
+    uint32_t nbQuaternions)
+{
+   float32_t ro22, trace;
+   f32x4_t q1,q2, q; 
+
+   float32_t doubler;
+   float32_t s;
+
+   q = vdupq_n_f32(0.0f);
+
+   for(uint32_t nb=0; nb < nbQuaternions; nb++)
+   {
+      q1 = vld1q(pInputRotations);
+      pInputRotations += 4;
+
+      q2 = vld1q(pInputRotations);
+      pInputRotations += 4;
+
+      ro22 = *pInputRotations++;
+
+      trace = R00 + R11 + R22;
+
+
+      if (trace > 0)
+      {
+        (void)arm_sqrt_f32(trace + 1.0f, &doubler) ; // invs=4*qw
+        doubler = 2.0f*doubler;
+        s = 1.0f / doubler;
+
+        q1 = vmulq_n_f32(q1,s);
+        q2 = vmulq_n_f32(q2,s);
+
+        q[0] = 0.25f * doubler;
+        q[1] = R21 - R12;
+        q[2] = R02 - R20;
+        q[3] = R10 - R01;
+      }
+      else if ((R00 > R11) && (R00 > R22) )
+      {
+        (void)arm_sqrt_f32(1.0f + R00 - R11 - R22,&doubler); // invs=4*qx
+        doubler = 2.0f*doubler;
+        s = 1.0f / doubler;
+
+        q1 = vmulq_n_f32(q1,s);
+        q2 = vmulq_n_f32(q2,s);
+
+        q[0] = R21 - R12;
+        q[1] = 0.25f * doubler;
+        q[2] = R01 + R10;
+        q[3] = R02 + R20;
+      }
+      else if (R11 > R22)
+      {
+        (void)arm_sqrt_f32(1.0f + R11 - R00 - R22,&doubler); // invs=4*qy
+        doubler = 2.0f*doubler;
+        s = 1.0f / doubler;
+
+        q1 = vmulq_n_f32(q1,s);
+        q2 = vmulq_n_f32(q2,s);
+
+        q[0] = R02 - R20;
+        q[1] = R01 + R10;
+        q[2] = 0.25f * doubler;
+        q[3] = R12 + R21;
+      }
+      else
+      {
+        (void)arm_sqrt_f32(1.0f + R22 - R00 - R11,&doubler); // invs=4*qz
+        doubler = 2.0f*doubler;
+        s = 1.0f / doubler;
+
+        q1 = vmulq_n_f32(q1,s);
+        q2 = vmulq_n_f32(q2,s);
+
+        q[0] = R10 - R01;
+        q[1] = R02 + R20;
+        q[2] = R12 + R21;
+        q[3] = 0.25f * doubler;
+      }
+
+      vst1q(pOutputQuaternions, q);
+      pOutputQuaternions += 4;
+
+   }
+}
+
+#else
+void arm_rotation2quaternion_f32(const float32_t *pInputRotations, 
+    float32_t *pOutputQuaternions,  
+    uint32_t nbQuaternions)
+{
+   uint32_t nb;
+   for(nb=0; nb < nbQuaternions; nb++)
+   {
+       const float32_t *r=&pInputRotations[nb*9];
+       float32_t *q=&pOutputQuaternions[nb*4];
+
+       float32_t trace = RI(0,0) + RI(1,1) + RI(2,2);
+
+       float32_t doubler;
+       float32_t s;
+
+
+
+      if (trace > 0.0f)
+      {
+        doubler = sqrtf(trace + 1.0f) * 2.0f; // invs=4*qw
+        s = 1.0f / doubler;
+        q[0] = 0.25f * doubler;
+        q[1] = (RI(2,1) - RI(1,2)) * s;
+        q[2] = (RI(0,2) - RI(2,0)) * s;
+        q[3] = (RI(1,0) - RI(0,1)) * s;
+      }
+      else if ((RI(0,0) > RI(1,1)) && (RI(0,0) > RI(2,2)) )
+      {
+        doubler = sqrtf(1.0f + RI(0,0) - RI(1,1) - RI(2,2)) * 2.0f; // invs=4*qx
+        s = 1.0f / doubler;
+        q[0] = (RI(2,1) - RI(1,2)) * s;
+        q[1] = 0.25f * doubler;
+        q[2] = (RI(0,1) + RI(1,0)) * s;
+        q[3] = (RI(0,2) + RI(2,0)) * s;
+      }
+      else if (RI(1,1) > RI(2,2))
+      {
+        doubler = sqrtf(1.0f + RI(1,1) - RI(0,0) - RI(2,2)) * 2.0f; // invs=4*qy
+        s = 1.0f / doubler;
+        q[0] = (RI(0,2) - RI(2,0)) * s;
+        q[1] = (RI(0,1) + RI(1,0)) * s;
+        q[2] = 0.25f * doubler;
+        q[3] = (RI(1,2) + RI(2,1)) * s;
+      }
+      else
+      {
+        doubler = sqrtf(1.0f + RI(2,2) - RI(0,0) - RI(1,1)) * 2.0f; // invs=4*qz
+        s = 1.0f / doubler;
+        q[0] = (RI(1,0) - RI(0,1)) * s;
+        q[1] = (RI(0,2) + RI(2,0)) * s;
+        q[2] = (RI(1,2) + RI(2,1)) * s;
+        q[3] = 0.25f * doubler;
+      }
+
+    }
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of RotQuat group
+ */