ahrs2 0.1.3

Attitude and heading reference system
Documentation 
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/// Utility function to linearly map an input value to an output
pub fn map_linear(val: f32, range_in: (f32, f32), range_out: (f32, f32)) -> f32 {
    // todo: You may be able to optimize calls to this by having the ranges pre-store
    // todo the total range vals.
    let portion = (val - range_in.0) / (range_in.1 - range_in.0);

    portion * (range_out.1 - range_out.0) + range_out.0
}