Angle estimator tested, poor precision with atan2, now using atan2 assisted modding to ellipse based angle detection
Angle estimator now much more stable, but still peaks out
Angle estimator now more stable, though still gives fluctuations
Control for min Angular velocity (for use with temperature) added. Angle estimator now even more stable. No glitches so far
Multi threading now functional, though unstable, angle estimator still troublesome, blips
Error message in graph; its cause has been resolved and consequently they've been suppressed
Angle modding problem finally resolved for the greater good :P