bugfix: imu linear acceleration gravity removal with rotated IMU #946
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This is just #892 with the formatting test fixed. This fixes the gravity removal from the IMU linear acceleration measurement, which is broken currently when the IMU is rotated with respect to the robot body frame and not providing absolute orientation estimate (in my case, it is mounted upside down, resulting in 2*g acceleration being fused).
Also updates the docs for the gravity removal parameter (fixes #421)