ight, z-down) (m).</span>
<span class="comment">%      freq: 1x1 sampling frequency (Hz).</span>
<span class="comment">%   zupt_th: 1x1 ZUPT threshold (m/s).</span>
<span class="comment">%  zupt_win: 1x1 ZUPT time window (seconds).</span>
<span class="comment">%       eps: 1x1 time interval to compare current IMU time to current vor_dme time vector (s).</span>
<span class="comment">%</span>
<span class="comment">%  att_mode: attitude mode string.</span>
<span class="comment">%      'quaternion': attitude up