On-board Ahrs (orientation estimator)

[Jshepherd06]

Description

Summary of Changes

• Implement on board orientation estimation. Send roll, pitch, and yaw over radio, and save them to flash.

Motivation

• Smoother visual of rocket orientation in ground-station gui. "true up" detection capabilities on pad with accelerometer and magnetometer correction.

---

Testing

Check all that apply:

• I have added or modified unit tests to cover these changes.
• I have manually tested the changes on the target device(s) or environment(s).
• Existing tests were reviewed to ensure they still work as expected.
• If tests were not added or modified, explain why:

  (Provide reasoning here)

---

Checklist

• My code follows the style guidelines of this project.
• I have performed a self-review of my own code.
• I have commented my code where necessary for clarity.
• I have made corresponding updates to documentation (if applicable).

[Elan456]

You'll need to address the warnings. You can run pio test within the Avionics repo to recreate them locally. You can also run pio check within the Avionics repo to recreate the Clang-Tidy issuess