Getter & setter for algorithm parameters (#23)

* Getter & setter for algorithm parameters

Getter and setter for Madgwick (beta) and Mahony (Kp & Ki).

* clang-format

src/Adafruit_AHRS_Madgwick.h

@@ -49,6 +49,8 @@ public:
   // q0 + 2.0f * q3 * q3 - 1.0f);}; float getRoll(){return -1.0f * asinf(2.0f *
   // q1 * q3 + 2.0f * q0 * q2);}; float getYaw(){return atan2f(2.0f * q1 * q2
   // - 2.0f * q0 * q3, 2.0f * q0 * q0 + 2.0f * q1 * q1 - 1.0f);};
+  float getBeta() { return beta; }
+  void setBeta(float beta) { this->beta = beta; }
   float getRoll() {
     if (!anglesComputed)
       computeAngles();

src/Adafruit_AHRS_Mahony.h

@@ -42,6 +42,10 @@ public:
   void update(float gx, float gy, float gz, float ax, float ay, float az,
               float mx, float my, float mz);
   void updateIMU(float gx, float gy, float gz, float ax, float ay, float az);
+  float getKp() { return twoKp / 2.0f; }
+  void setKp(float Kp) { twoKp = 2.0f * Kp; }
+  float getKi() { return twoKi / 2.0f; }
+  void setKi(float Ki) { twoKi = 2.0f * Ki; }
   float getRoll() {
     if (!anglesComputed)
       computeAngles();