Added calibration algorithm

Lots of small changes, calibration algorithm for magnetometer is now
included, still need to add calibration for accelerometer.  Offsets and
scales are printed to labels on the form, but not to a file yet.
Calibration algorithm uses dotnetmatrix library for matrix generation,
manipulation and solving transformations.  The four windows on the left
side of main form are populated once you start gathering samples from
magnetometer.  Once you stop collecting samples and click calibrate
magnetometer, it populates the right four windows with the calibrated
data.