CN - Added support for converting raw gyro ADC values into degrees/sec x 10.
Will be using these values as source to rotation matrix.
CN - Work continuing on removal of floating point support in getEstimatedAttitude().
Added i64sqrt() function, which computes the square root of a 64 bit integer.
Will probably add a 32 bit version at some stage.
CN - Another fix for divide_with_rouunding(). Wasn't working with -ve values.