many changes

added new helper class for 3x3 matrices and vec3
added magnetometer data
added compass detection
refactored pose-estimation (single class)
refactored debug plots (move to own class)
minor changes

math/MovingMedian.h

@@ -41,9 +41,9 @@ public:
 
 		// get the median
 		if (values.size() % 2 != 0) {
-			return values[(values.size() + 0) / 2];
+			return copy[(copy.size() + 0) / 2];
 		} else {
-			return (values[values.size() / 2 - 1] + values[values.size() / 2 + 0]) / 2;
+			return (copy[copy.size() / 2 - 1] + copy[copy.size() / 2 + 0]) / 2;
 		}
 
 	}