The previous implementation made some boards apply two rotations to suit
their default orientation. That was happening because there was an
unconditional rotation being done (commented as "rotate for bbone
default").
This commit makes that unconditional rotation as a default rotation
instead and adjusts the former additional rotations to be single
rotations.
when running off a 1kHz timer and reading at 1kHz it is better to
double sample than it is to skip a sample, as skipping samples will
throw the filter off, whereas a double sample will have minimal effect
Gustavo Jose de Sousa
Andrew Tridgell
Jonathan Challinger
Andrew Tridgell
Víctor Mayoral Vilches