- Replace transit-reset filter with Mahony-style VQF (continuous gyro bias estimation, drift correction without needing flat ski) - Raise BLE rate 5 Hz -> 50 Hz, read all 3 gyro axes - Add PhoneSensor (TYPE_ROTATION_VECTOR) for body roll measurement - angulation = bootRoll - bodyRoll, added to CSV as body_roll column

- Added simulator, can be tested without sensor - Updated filter in firmware because complimentary filter worked with some lags

initial commit

update: build.gradle

update: build.gradle

initial commit