added new sanity-check assertions

fixed issue with angles [bad interface]
- adjusted other parts accordingly
- added corresponding test-cases
started working on absolute heading

main.cpp

@@ -30,7 +30,7 @@ int main(int argc, char** argv) {
 
 
 	//::testing::GTEST_FLAG(filter) = "*Offline.readWrite*";
-	::testing::GTEST_FLAG(filter) = "*Earth*";
+	::testing::GTEST_FLAG(filter) = "*Angle*";
 
 
     //::testing::GTEST_FLAG(filter) = "*Barometer*";