Fixed bug in the algebra-doc, added "synthetic mag mode" to test_libeknav4.cpp to feed only known data to it.

doc/pprz_algebra/quaternion.tex

@@ -27,8 +27,8 @@ Sets a quaternion to the identity rotation (no rotation).
 \inHfile{FLOAT\_QUAT\_ZERO(q)}{pprz\_algebra\_float}
 
 \subsubsection*{$\quat{} = \transp{(\quat i,\quat x,\quat y,\quat z)}$}
-\begin{equation}
 \textit{i} is the real part of the quaternion.
+\begin{equation}
  \quat a = \begin{pmatrix}i\\ x \\ y \\ z \end{pmatrix}
 \end{equation}
 \inHfile{QUAT\_ASSIGN(q, i, x, y, z)}{pprz\_algebra}
@@ -212,4 +212,4 @@ leading to
 \end{pmatrix}
 \multiplication \quat{}
 \end{equation}
-\inHfile{FLOAT\_QUAT\_DERIVATIVE\_LAGRANGE(qd, r, q)}{pprz\_algebra\_float}
+\inHfile{FLOAT\_QUAT\_DERIVATIVE\_LAGRANGE(qd, r, q)}{pprz\_algebra\_float}