Angular rate estimate needed

[contradict]

If the hammer files while chomp has substantial omega_z, the resulting gyroscopic torque usually results in an upset. We need to estimate body angular rates and lock out hammer firing above a to-be-determined threshold.

[contradict]

The gyroscope hardware provides a surprisingly good value, for the stated purpose a threshold on the IMU measured omega_z gated by a successful IMU read (see imu.cpp getOmegaZ() ) seems sufficient.