update and cleanup

add license

add readme and logo assets

complete uncertainty characterization and propagation

turn off dead reckoning during spin

make slam work with madgwick

add madgwick filter

change signal alignment strategy

remove motion dependency from syncronizer

make Sensor independent of Motion

use inverse hessian for kalman covariance initialization

remove simulation other than slam

working slam simulation with initialization step

refactor classes into pejo library and add slam simulation

localization and mapping