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5d7b734bc9
SIH: use projection functions and constants from geo lib SIH: remove unnecessary member variable SIH: clarify names of rotation matrices and frames SIH: do not store DCM corresponding to quaternion attitude Using DCM is more efficient when more than 1 rotation needs to be done, which is not the case here. SIH: don't store local variable as member SIH: use Wgs84 constants everywhere SIH: do not store delta_quaternion Converting an AxisAngle to a Quaternion uses the exponenial SIH: organise ECEF member variables SIH: add earth spin rate to gyro data Co-authored-by: bresch <brescianimathieu@gmail.com>