an (vel_e(i-idz:i , :));

        % If mean velocity value is under the ZUPT threshold velocity...
        if (abs(vel_m) < vor_dme.zupt_th)

            % Current attitude is equal to the mean of previous attitudes
            % inside the ZUPT window time
            roll_e(i)  = mean (roll_e(i-idz:i , :));
            pitch_e(i) = mean (pitch_e(i-idz:i , :));
            yaw_e(i)   = mean (yaw_e(i-idz:i , :));

            % Current position is equal to the mean of previous positions
            % inside