wboayue / fusion-ahrs

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Add axes module and fix C parity issues (#26)

* Add axes module and match C library defaults

- Add AxesAlignment enum with 24 sensor mounting orientations
- Add axes_swap() function for sensor-to-body axis remapping
- Update AhrsSettings defaults to match C library:
  - gyroscope_range: 0.0 (disabled)
  - acceleration_rejection: 90.0°
  - magnetic_rejection: 90.0°
  - recovery_trigger_period: 0 (disabled)
- Update tests and documentation

* Bump version to 0.3.0

* Update Cargo.lock

* Remove Cargo.lock from version control

* fix gitignore

* Fix docs consistency and add submodule note

- Align enum name casing in axes.rs docstring
- Remove redundant inline comments in types.rs
- Note fusion-c submodule in CLAUDE.md

* Fix clippy warning, improve docs, add round-trip test

- Derive Default for Convention instead of manual impl
- Clarify AxesAlignment naming convention in docs
- Add inverse round-trip test for axes alignments
- Document that defaults provide minimal filtering

* Fix pre-existing clippy warnings in benchmarks and tests

- Use std::hint::black_box instead of deprecated criterion::black_box
- Use rng.random_range instead of deprecated gen_range
- Remove redundant if-else with identical branches

* Fix C parity issues: feedback scaling, asin in errors, calibration order

- Remove extra 0.5 scaling in feedback application (ahrs.rs)
- Add asin() to internal_states error calculation (ahrs.rs)
- Fix calibration order: (uncalibrated - offset) * sensitivity (calibration.rs)
- Add parity tests for all three fixes

* Fix C parity: half_magnetic formulas, flags comparison, internal_states normalization

- Fix half_magnetic x-component for NWU (qw*qy+qx*qz → qx*qy+qw*qz)
- Fix half_magnetic formulas for ENU and NED conventions
- Fix flags() to compare trigger > timeout (not trigger > 0)
- Fix internal_states to return normalized trigger (0.0-1.0)
- Fix update_external_heading to match C algorithm
- Add 10 C parity tests

* Fix C parity: initialis... (continued)

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