Add scaling factor to gyroscope sensitivity constant.
Merge remote-tracking branch 'hazelnusse/full_order_observer' into fullorderobs
Add MatlabInterface class files.

I forgot to add these files several commits ago so code would have broken on
any machine besides mine.
Display lean, hw button status in plot_estimates.
Merge remote-tracking branch 'oliverlee/fullorderobs' into full_order_observer
Bug fixes in Kalman measurement noise.

Previously, Kalman measurement noise was very very large, instead of very very
small.  This has the effect of not trusting measurements and instead trusting
the plant model more.  For some reason, we still cannot seem to estimate lean
-- the magnitude is always unreasonably small.
Gains generated using previous commit design parameters.