                One frame consist of three lines - one for RPY, accel, gyro
       "#oab" - Output CALIBRATED SENSOR data of accelerometer and gyros in BINARY format.
                One frame consist of two 3x3 float values and one RPY 3x4 (24 bytes + 12 bytes = 36 bytes long)
-      
-      // Error message output        
+
+      // Error message output
       "#oe0" - Disable ERROR message output.
       "#oe1" - Enable ERROR message output.
-    
-    
+
+
   "#f" - Request one output frame - useful when continuous output is disabled and updates are
          required in larger intervals only. Though #f only requests one reply, replies are still
          bound to the internal 20ms (50Hz) time raster. So worst case delay that #f can add is 19.99ms.
-         
-         
+
+
   "#s<xy>" - Request synch token - useful to find out where the frame boundaries are in a continuous
          binary stream or to see if tracker is present and answering. The tracker will send
          "#SYNCH<xy>\r\n" in response (so it's possible to read using a readLine() function).
          x and y are two mandatory but arbitrary bytes that can be used to find out which request
          the answer belongs to.
-          
-          
+
+
   ("#C" and "#D" - Reserved for communication with optional Bluetooth module.)
-  
+
   Newline characters are not required. So you could send "#ob#o1#s", which
   would set binary output mode, enable continuous streaming output and request
   a synch token all at once.
-  
+
   The status LED will be on if streaming output is enabled and off otherwise.
-  
+
   Byte order of binary output is little-endian: least significant byte comes first.
 */
 

    {
      if (output_stream_on || output_single_on) output_sensors();
    }
    
    output_single_on = false;
    
#if DEBUG__PRINT_LOOP_TIME == true
    Serial.print("loop time (ms) = ");
    Serial.println(millis() - timestamp);

  // Reset gyro calibration variables
  gyro_num_samples = 0;  // Reset gyro calibration averaging
  gyro_average[0] = gyro_average[1] = gyro_average[2] = 0.0f;

  reset_calibration_session_flag = false;
}

