refactored and added a doc template for updateImuState(), needs testing
added doc template for movingStatus()
added several useful macros and more cleanups to main()
finished cleaning up main(), not tested, many redundant/repetitive parts need to be rewritten.
fixed spaces
moved constants and globals to a header instead
added license notice
alignment to the last change and bugfixing
alignment to the last change
minor updates to the comments
fix a redefinition problem
Ancora MOLTI altri errori da risolvere
manually merge calibration update from dd1a96fafdf0eeb0f4363733022521a929aa5033
manually cherry-pick ground testing fixes from 17dbff1c3ec04cfa9c1c3c3618b6f2d56751a5a8
split adc library (node, utils, ...) from messages and services