Link with math lib

fixed gyroscope bug, updated Macros, updated license, updated main.c tests

updated headers

added a simple cmake build system

added a MIT License

updated read me more

updated readme

euler angles now in degrees

roll pitch and yaw added

acceleorometer + gyro fusioncomplete, but need to fix some issues

objective function and jacobian matrix for gravity written out

gyro integration

some quaternion math

read me

first files