Tried implementing DCM mixed with quaternions with complementary filter.  Failed.  Need to remove DCM - don't understand implementation.
Implemented quaternion complementary filter.  Results in nan!
Cleaning up math mistakes.  Not complete. Memory issue with orientation estimate update.  Look at Complementar Filter code to check for memory leaks and math problems.  Need to find altermate solution for mixing rotations.
Testing orientation estimate
Added stupid gimbal code implemtation.  Checked and verified from software, need to set hardware properly
Added quaternion unit test make target
Changed comm spec for BeagleBone Black interface to ensure compatibility of hardware and interpretation code.  Added different command structure to simplify command interpretation (less human readable)
Need to add mode description
Added quaternion unit test
Added calibrate script for MPU9150 to generate the initial set of calibration constants