rotationMatrix :: (Typed a, Num a) => [Stream a] -> Stream a -> [Stream a]
rotationMatrix (roll:pitch:yaw:[]) time = [ 0,           -yaw*time,  time*pitch,
                                            yaw*time,    0,         -time*roll,
                                            -time*pitch, time*roll,  0          ]

  updateMatrix[0] =  0;
  updateMatrix[1] = -G_Dt * correctedRateVector[YAW];    // -r
  updateMatrix[2] =  G_Dt * correctedRateVector[PITCH];  //  q
  updateMatrix[3] =  G_Dt * correctedRateVector[YAW];    //  r
  updateMatrix[4] =  0;
  updateMatrix[5] = -G_Dt * correctedRateVector[ROLL];   // -p
  updateMatrix[6] = -G_Dt * correctedRateVector[PITCH];  // -q
  updateMatrix[7] =  G_Dt * correctedRateVector[ROLL];   //  p
  updateMatrix[8] =  0;