Added normalization.
Added normalization.

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