2.4.0 Fix Gravity vector calculation in both the Madgwick and Mahony filters

What's Changed

• Fix Gravity Vector Calculation (#35) by @SwapnilPande in #42
• clang format by @dhalbert in #43

New Contributors

• @SwapnilPande made their first contribution in #42
• @dhalbert made their first contribution in #43

Full Changelog: 2.3.6...2.4.0