I'm sure it does, I'll give you the benefit of the doubt even though the article makes no mention of Quaternions. My point is, using Quaternions for physical devices is using a hammer on a screw. Huge mistake, but it can be done by people who don't know any better. I'm guessing you worked on this and bought in to the whole Quaternion BS?

I'm in the defense industry as well and guess what? Basically most people don't know any better.