Put a lot of work into improving tests and simulations

I probably put too much effort into the simulations and tests and should work more on the actual code but having good tests is pretty nice. I added some simple alternate orientation algorithms, one that simply inegrates the gyro measurement and another that it a complementary filter. I revamped the simulation code to work with any number of algorithms as long as they have the same format. I then spent a while making a nice error sort of tui that changes based on how many algorithms are being used.