custom IMU adjustments function #799
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Feature addition to imu.c to add the following:
An optional define, IMU_ROT_Y_270, which can be set in the board file to rotate the IMU outputs by 270deg along the y axis
An optional define, IMU_CUSTOM_FUNC, which can be set in the board file as a function which performs a runtime adjustment of IMU output, without needing to use the IMU appconfig.
This allows a system of VESC motors, with their IMU's set in different orientations (say a PCB rotated 90deg along an axis), to have the same orientation result to the user/VESCTool, or, for a runtime-adjustable transformation depending on (for example) hardware pin straps.