AHRS Device Orientation Computation

[JSMTHWCK]

Created a method endaq.ide.compute_orientation(doc) that computes the Orientation of a device with results comparable to that of the imu. Helper methods copied from PR#238, with test methods and test files for the created method.

[codecov]

Codecov Report

❌ Patch coverage is 95.31250% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 71.86%. Comparing base (25bf365) to head (1fdea79).

Files with missing lines	Patch %	Lines
endaq/calc/utils.py	93.61%	3 Missing ⚠️

Additional details and impacted files

@@               Coverage Diff               @@
##           development     #240      +/-   ##
===============================================
+ Coverage        71.36%   71.86%   +0.49%     
===============================================
  Files               35       35              
  Lines             3279     3337      +58     
===============================================
+ Hits              2340     2398      +58     
  Misses             939      939              

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[pscheidler]

This is really good work, I tested it out a few ways and the results look great.
I think compute_orientation should go into endaq.calc instead of endaq.ide, I don't remember if we talked about this before, but if @StokesMIDE is fine with it then I'm fine with it.