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Extracts from IMU work

Rylie Pavlik requested to merge rp-tracking-imu-pieces into master

These are fully-formed commits that can be merged without waiting for the rest of the branch to be done. A bit of a mix of random cleanups/fixes. Only the "fix initialization" commit actually changes behavior - we were initializing the simple fusion with the influence of gravity reversed/mirrored, meaning that it would always start up by slowly spinning (usually about x) to get to the right orientation.

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