Fixed bug with using integer exponentials in a float context.
Fixed improper roll correction.

Didn't realize that the visualization was an artificial horizon, so it's from the viewpoint of the vehicle, not the ground.
Correct comments on clock configuration.
Merge branch 'master' of github.com:Susurrus/Autoboat
Added filtering on the yaw_rate data.

A glitch filter was added, as I saw some data on the last launch with a few large glitches.

Also added a 2Hz EWMA filter to smooth out the rather-noisy gyro data.
Forgot to convert to fixed-point for transmiting IMU data over CAN.