made it output acceleration and magnetic field in body coordinates
made it output acceleration and magnetic field in body coordinates

zhahaoyu/minimu9-ahrs,zhahaoyu/minimu9-ahrs,zhahaoyu/minimu9-ahrs,zhahaoyu/minimu9-ahrs,quattrinili/minimu9-ahrs,quattrinili/minimu9-ahrs,quattrinili/minimu9-ahrs,quattrinili/minimu9-ahrs