Initial co-ordinate system seperation.
least squares fiting for temperature calibration, and orientation independent.
Spelling and typos in frames document.
adding/porting det, trace, and stuff to matDumb.h
boltinging in static coord system, turning mag back on.
Eigen decomposition mag calibration code, test, and docs. (not wired in)
Getting Mag Cal working nicely!
Tidying up documentation and building it.
Rewording of documentation files.

Touched:

	modified:   boilerplate.sty
	modified:   magCal/main.tex
Tiny document wording bug.

	modified:   magCal/main.tex
flipping the board rightside up in the default build.
Merge branch 'AshimaCore-dev-cal' into AshimaCore-dev

Conflicts:
	src/drv/drv_system.c
	src/main.c
	src/sensors/mpu6000_I2C.c
fixing warnings and the like.