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Sensing MCMC to output Q and residual delay in sec instead of 1/Q and usec, respectively

Evan Goetz requested to merge evan-goetz/pydarm:mcmc-samples-units into master

This still internally fits the sensing using 1/Q in the MCMC, but the output is now with [gain (ct/m), f_cc (Hz), f_s (Hz), Q, time delay (sec)]. This impacts anything that uses the sensing MAP values.

Note that this also has a small application in the actuation residual delay so that the units are now in seconds instead of usec.

Closes #128 (closed)

Edited by Evan Goetz

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