[Diff since v3.1.1](v3.1.1...v3.1.2)

- Fix CI in nightly. (PR #34)
- The Zygote extension was modified to handle thunks. (PR #35)

**Merged pull requests:**
- Fix  nightly ci & compat cleanup (#34) (@jmurphy6895)
- Fix: Modify Zygote Ext to handle thunks (#35) (@jmurphy6895)

[Diff since v3.1.0](v3.1.0...v3.1.1)

- Some compat bounds were not correctly set. (Issue #32)

**Closed issues:**
- Update ForwardDiff compat to support 1.0 (#32)

[Diff since v3.0.2](v3.0.2...v3.1.0)

- The package now has a Zygote extension allowing for differentiation of DCMs. (PR #28)
- Deprecation We dropped support for Julia 1.6.

**Merged pull requests:**
- Feat Zygote Extension (#28) (@jmurphy6895)

**Closed issues:**
- Why Quaternion isn't type of Number? (#29)

[Diff since v3.0.1](v3.0.1...v3.0.2)

-  Improve some docstrings.

[Diff since v3.0.0](v3.0.0...v3.0.1)

- Documentation update.

[Diff since v2.0.0](v2.0.0...v3.0.0)

**Closed issues:**
- Add Base.convert to convert between different rotation representations (#18)
- Refactor EulerAngles and EulerAngleAxis (#20)
- DCM optimizations (#21)

**Merged pull requests:**
- Add conversion methods to DCM (#19) (@juliohm)

[Diff since v1.0.1](v1.0.1...v2.0.0)

- Previously, `Quaternion` was `<:AbstractVector`. However, this choice was leading to many problems when interfacing with other packages. For example, it was very difficult to make it works together with Zygote.jl because of the multiplication. In the previous version, `Quaternion` was an array in which the multiplication `q1 * q2` (both 4x1 arrays) leads to another 4x1 arrays, breaking a lot of assumptions about arrays. Many functions were defined to reduce the number of breakage. Quaternion supports iterations and broadcast. Hence, I do not expect many problems.
- The function `zeros` for `Quaternion` is now deprecated. Use `zero` instead.
- The function `create_rotation_matrix` is now deprecated. Use `angle_to_dcm` instead.
- The function `angle_to_dcm` can now create a DCM from a single rotation.
- The function `angle_to_quat` can now create a quaternion from a single rotation.
- The function `angle_to_rot` can now create a rotation from a single rotation.
- The functions `zero` and `one` are now defined for `Quaternion`.
- Many improvements related to the type promotion in the functions.

**Closed issues:**
- Product between a quaternion and a pure quaternion (#16)

[Diff since v1.0.0](v1.0.0...v1.0.1)

- The display function of quaternions was showing q2 instead of q3.

**Merged pull requests:**
- Create CompatHelper.yml (#15) (@ChrisRackauckas)

[Diff since v0.5.7](v0.5.7...v1.0.0)

The following rotation representations and the conversion between them are now considered stable:

* Direction cosine matrix (DCM);
* Euler angle and axis;
* Euler angles; and
* Quaternion.

- The printing of Euler angle and axis, Euler angles, and quaternion were improved. Everything is now printed with context `:compact => true`, and can be changed using `IOContext`.
- The tests were entirely redesigned, leading to 100% of coverage.
- The code now follows the [BlueStyle](https://github.com/invenia/BlueStyle).
- All deprecated functions in v0.4 were removed.

**Merged pull requests:**
- Fix latex command in the doc (#14) (@hyrodium)

[Diff since v0.5.6](v0.5.6...v0.5.7)

- The compat bounds were updated.

**Closed issues:**
- How to use rotation objects to compute coordinates of a given point? (#10)
- dcm_to_quat followed by quat_to_dcm return a different DCM (#11)