removed imumath.h and other libraries, Just simple data structures

[walchko]

Ok, so I made a simple Vector and Quaternion class that is MIT licensed. They are really simple.

• Removed Matrix class, wasn't used
• Vector is only 3D now, (x,y,z)
• You can directly access the x,y, and z values ... no need for functions (vector.x() is now vector.x)
• Vector is no longer a template ... it was overkill, because only the double version was ever used
• Quaternion only has normalize, all other mathematics were removed
• Like the vector, you can directly access the data values

[walchko]

I am not sure what this error is

[ladyada]

click Details for the CI failure

this guide covers details!
https://learn.adafruit.com/contribute-to-arduino-with-git-and-github

[walchko]

OMG, this was overly complicated ... understand what you are doing here (good stuff), but this was painful. I spent more time learning your system than making the changes. If you have to read a guide to make a pull request, I am tempted to say something is wrong. I admit I could be 100% wrong, but if you can simplify this so it is less painful for us to help out and your team can do the cleanup, maybe that is better. I also recognize good formatting and proper documentation is important so you are doing nothing wrong ... it was just slow and painful to do.

[ladyada]

hi, we didn't used to have CI for about a decade... and we would get PRs that broke existing code (about 50%), reformatted the entire codebase (VS does 'clang-format' by default on all files in a project) or were not documented. it became completely untenable because we could not trust or review any PR. firmware is very late to CI, almost all software projects already use it so its common. with 1400 repos, this is the only way to do it :)

[ladyada]

thanks for the PR, we will review it to make sure it still works with our tests!

[walchko]

hi, we didn't used to have CI for about a decade... and we would get PRs that broke existing code (about 50%), reformatted the entire codebase (VS does 'clang-format' by default on all files in a project) or were not documented. it became completely untenable because we could not trust or review any PR. firmware is very late to CI, almost all software projects already use it so its common. with 1400 repos, this is the only way to do it :)

Again ... totally understand and I don't have a better suggestion, please just take my rant as feedback ... thanks! 😄