Remove average measurements, compute estimated acceleration (without rotated
gravity).
Let's see if we can get an estimate of the distance to the sensor based on
the ratios between linear and angular velocity.
Attempting to perform the transform between angular and linear acceleration.
Need to include SharedUtil.
This should be the normalized offset.
Working on "learning" the acceleration matrices.
Testing a different coordinate conversion.
Revert to previous coordinates.
Initial values, report error.
It ain't perfect, but I'm going with what I've got for now.
New values, slower learning.
Don't estimate acceleration before we know the gravity and don't update our
matrices without acceleration.
Let's see what the long-term average acceleration is.
Actually, we want it sans gravity.
Show the average rotation rates, too.
Fixes to align better with previous code.
Merge branch 'master' of https://github.com/worklist/hifi into gyroquat
Let's try using estimated velocity to control "lean."
Let's try changing the torso rotation based on the gyros!
Now let's try using the estimated position to calculate lean.