changed visualisation

added new eval code for new walkers
improved barometer (moving avg and median)
floorplan-staircase-fixes
disabled step-turn (now part of transition)
added abs-orientation-reader (for testing)
added beacons

code/particles/MyObservation.h

@@ -3,6 +3,8 @@
 
 #include "../frank/WiFiObservation.h"
 #include "../frank/BeaconObservation.h"
+#include "../frank/OrientationObservation.h"
+
 #include "../toni/BarometerObservation.h"
 #include "../lukas/StepObservation.h"
 #include "../lukas/TurnObservation.h"
@@ -15,6 +17,8 @@ struct MyObservation {
 	/** wifi observation */
 	WiFiObservation wifi;
 
+	OrientationObservation orientation;
+
 	/** barometer observation data (if any) */
 	BarometerObservation* barometer = nullptr;