AHRS based on MatrixPilot DCM algorithm; ported from Pololu MinIMU-9 example code in turn based on ArduPilot 1.5

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DCM.cpp 10107 Revisions Annotate
DCM.h 6416 Revisions Annotate
Matrix.cpp 1165 Revisions Annotate
Matrix.h 1329 Revisions Annotate