Convert board to body rotation to a proper inverse Tait-Bryan.
Changed Rbs-->Rsb in order to reflect the fact that the orientation matrix
has changed sense.
Add calibration class support for computing yaw orientation.
Connected yaw orientation UI elements to calibration class.
Improved GUI layout, text, and tooltips.
Merge pull request #632 from kubark42/correct-rotation

Correct rotation and add yaw orientation calibration