Stable and accurate integration of IMU-driven leg odom
Stable and accurate integration of IMU-driven leg odom

Accuracy seems on first approach to be similar to leg odo driven:
- Requires gravity_always mode. Seems that leg odo filtering is key.
- Added Dehann's light filtering of joint angles. TODO: fixed soft restart
- 85Hz notch filtering of accelerations (implemented as a passthrough process)

Other:
- enable soft restart of Dehann's filters
- noticed that State Sync occasionally seems to cause packet jitter
- alphabetized the signal scope signals

openhumanoids/signal-scope,mitdrc/signal-scope,openhumanoids/signal-scope,mitdrc/signal-scope,mitdrc/signal-scope,openhumanoids/signal-scope