PLA-Buoy SVN-Code

Getting batch processing and threading sorted out. Still need to make Gui for selecting data for gyro and magnetic calibration. Other than that should soon be finished with this.

Have made a new linear flexible model based on vector maths instead of angles. This is much simpler and also does not suffer from issues with angle based model.

Trying to make model better

Getting this damn magnetic calibration sorted still. Lots of Matrix math to go through.

Working on IMU extended calibration- have visual representation in JavaFX 3D and can calculate calibration ellipse- now need to figure out how to show ellips ein 3D so human can manually check calibration is OK. Also, fixed bug in Madgwick- not entirley sure if MATLAB is wrong so now Java is wrong or Java was wrong and now right....

Working on getting Madwick algorithm sorted but think they have a bug (which I've found and solved) in one of the big matrices. Will need to email them to make sure I it is actually a bug

Have got .DSG file extraction sorted, working on Madwick algorithm and GUI for magnetic calibration. Should make life a lot easier compared to using MATLAB. Will also be applicable to all IMU systems we use from now on.

Have written open tag .dsg file loader. Very fast compared to MATLAB and means. Also getting Madwick algorithm coded up. Need to create a useful magnetic calibration utility.

Have added ability to open DSG files.