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Feature/AHRS

Hoani Bryson requested to merge feature/ahrs into master

Add Two wheeled pendulum bot AHRS with calibration, still, dynamic and smart modes.

AHRS provides pitch and yaw information Gimbal lock is not possible because there is no roll Still mode is used to avoid gyro drift from giving incorrect values Smart mode is for experimental sensor fusion for improved dynamic AHRS All features but smart mode are unit tested

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