IMUSimulation: send correct values
The IMUSimulation should send correct values. (i.e. not 0 for magnetic Rotation).
Also the names in IMUData should be clear (e.g. add doxygen what is contained).
e.g. Do gyroscopeRotation (currently contains angular velocity) , magneticRotation (currently contains 0) and orientationQuaternion (currently contains the rotation) all contain orientation information? (If so, why is orientationQuaternion called differently?)
The orientationQuaternion is a vector of float.
What is the order of coordinates? (xyzw or wxyz (this is used by the IMUSimulation, but what about other IMU components?))
This should also be documented/ instead a quaternion data structure should be used.