- Fixed IMU calibration function bugs

- Fixed IMU data processing bugs
- Fixed madgwick init bug
- Inverted magn axis relative to IMU (180 degree rotation) in madgwick
- Acc bias currently set to 0 and 1 for gravity
- Gyro values now rad/s instead of deg/s as madgwick requires

Core/Src/trinity_helperlib.h

@@ -1,13 +1 @@
-/*
- * trinity_helperlib.h
- *
- *  Created on: Aug 17, 2026
- *      Author: pima
- */
-
-#ifndef SRC_TRINITY_HELPERLIB_H_
-#define SRC_TRINITY_HELPERLIB_H_
-
-
-
-#endif /* SRC_TRINITY_HELPERLIB_H_ */
+#define DEG2RAD 0.01745329252f