Add local frame conversion for calibrated imu data (acc, gyr, mag)
Fix NameError: name 'ch' is not defined

if we get to that part of the code (discovered when compiling file with
the warning: undeclared name not builtin: ch)
Fix many errors of stuff not declared

In cases that never execute, it seems, but that can't be compiled from
cython if not fixed.
Remove unused Makefile
Fix mixed space-tab intendation
Fix ffmt in Parse_MTData2
Merge pull request #12 from pal-robotics/pal-fixes

Additions and fixes from PAL robotics