Turns on the gyro and places it in normal mode.

Uses the given angular velocity and time interval to calculate a rotation and applies that rotation to the given quaternion. w is angular velocity in

Uses the acceleration and magnetic field readings from the compass to get a noisy estimate of the current rotation matrix. This function is where we d

Turns on the LSM303's accelerometer and magnetometers and places them in normal mode.

In body coords, with units = rad/sec