Adding ability to read IMU.

Forgot to upload the IMU9_Read.m... Now we can actually read the sensor
data.
Custom IMU read program

UNTESTED.
Adds library for reading quaternions

UNTESTED
Documentation and calibration changes

Adds commenting on the functions and returns calibration value.
Commenting / program description

Describes what happens in the program to make it easy for anyone to pick
up and use the code.
Working Kalman Filter on the IMU (kinda...)

The KF works for the IMU in the roll and pitch measurements. Yaw needs
integration from the magnetometer readings to work. Changed data types
on some things to make it work.
Noise removal, data management

Removes initial measurement noise and also adds smoothing for the
estimated KF angles. Some commenting and an updated TO TO list.
Merge pull request #4 from gbledt/master

IMU data reading with Kalman Filter