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Alternative Madgwick filter for IMU#45

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sfe-SparkFro wants to merge 3 commits into
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sfe-SparkFro:alternative-madgwick-ahrs
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Alternative Madgwick filter for IMU#45
sfe-SparkFro wants to merge 3 commits into
Open-STEM:mainfrom
sfe-SparkFro:alternative-madgwick-ahrs

Flip roll and pitch axes for IMU AHRS algorithm

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