fixed for readability

fixed! (well, not tested and .h need to be updated) now you don't need two function, the code is more readable, and you can easily implement correctin from other ssensor (i've seen using GPS somewhere). As you can see any sensor other than gyro is just giving a correction vector; in my code i've used an array of function "void get_error(quaternion q, vector halfe)", every sensor implement this function, and add it to the array. See https://github.com/MauroMombelli/testChibiOsStm32F3/blob/withDb/dcm/src/dcm.c