Take interleaved accelerometer and gyro readings, and integrate them into

a single attitude estimation.

A bunch of debug stuff, too.

main.c

@@ -277,7 +277,9 @@ void menu_handler(void)
 			break;
 		case 'P':
 			putstr("Initialising timer... ");
-			timer_set_period(10*TIMER_MS);
+			/* We want a 100Hz loop but two samples per iteration.
+			 * So, we go for 200Hz. */
+			timer_set_period(5*TIMER_MS);
 			reply("done");
 			wmp_start_zero();
 			break;