Use AngularVelocitys like in RidgidBodyState defined in MarsIMU

Correction of the AngularVelocitys returned by the MarsIMU. The AngularVelocitys are now like defined in RidgidBodyState (before in World-Frame).
You are right, multiply by the inverse (!) of the quaternion is the best way I think.  With the quaternion itself (no inverse) are the velocitys at +-pi/2 inverse.