Accelerometer and gyroscope seem to be swapped

[z80]

Hello!

Awesome implementation! Thank you so much for making it available at github!
I've tested your code (commit 0b869f4). My impression is accelerometer and gyroscope readings are swapped. I.e. accelerometer shows angular velocity and gyroscope shows acceleration.

For example, this code
builder << "gyro x: " << (int)inState.gyroscope.x << std::endl;
builder << "gyro y: " << (int)inState.gyroscope.y << std::endl;
builder << "gyro z: " << (int)inState.gyroscope.z << std::endl;
builder << "acc x: " << (int)inState.accelerometer.x << std::endl;
builder << "acc y: " << (int)inState.accelerometer.y << std::endl;
builder << "acc z: " << (int)inState.accelerometer.z << std::endl;

provides this output (controller is 100% stationary)
gyro x: -243
gyro y: 8187
gyro z: 1453
acc x: -5
acc y: 11
acc z: 2