working on compass heading
added angle extraction
some success in compass orientation decoding
comparison of rotation angles from acc and mag
added another bug note
adding force perception evaluation script
work in progress
added note for the error case where gravity and magnetic vector seem to be perpendicular (more exactly: opposite)
working solution for determining the perceived global frame
orientation detection is still not working correctly due to a phase drift in accelerometer and magnetometer
added timestamps to output that show the cause of the problem
added linear interpolation (resampling) of vectors to match different time snapshots
fixed coordinate system
removed time from printf
loadData now returns time series
lerpVectors --> lerpTimeSeries
now using timeseries
using timeseries
using first DCM as offset for subsequent rotation
DCM now represents rotation from reference to local frame