fix AHRS offset accumulation

[ktahar]

Due to sign inversion here, offsets were doubled rather than canceled in AHRS::updateIMU() (line 136-138 in AHRS.hpp).

[staroselskii]

Sorry it's taken us so long to get back to you. Is it still something you'd like to have merged?

[ktahar]

Yes. I think this one should be reviewed and hopefully merged.
Doubled offsets make AHRS's output rotate without any real rotation of the sensor.
PR will fix this behavior.

[staroselskii]

@ksktahara

Awesome.

Could you please, add a little more context to the commit itself and also conform to the git style we're using. This commit might be used as a reference.

Under context I understand:

• the motivation
• how this commit fixes the problem
• why

Linked list in commit message is of course not a requirement. A commit just should have as much information as possible for later period of time. It'd be also nice if you could rebase on master as there's a conflict right now.

Thank you for your commitment!

[ktahar]

Thank you for the review.
I've rebased on master and fixed the message to conform to your style.

[staroselskii]

Awesome. Thanks!