Create MPU9150_AHRS

Sketch to read accelerometer, gyro, and magnetometer data from MPU9150 sensor and fuse the sensor input to a quaternion representation using Madgwick's or Mahony's open-source 9 DoF sensor fusion filters. Application of resulting quaternians to calculate yaw, pitch, and roll for AHRS is shown.
Sketch runs on a 3.3 8 MHz Pro Mini Arduino microcontroller with filter update rates of between 125 and 165 Hz.