Control Logic:
-The heading now uses the yaw attribute of the phones frame of reference. This allows one to have the copter tilt in the same direction of the phone instead of having the phone's pitch/roll always affect the copter in the same way.

Front End:
-Broken up into css/js files.
-Now responsible for calculating heading.

Python Controller:
-Is now capable of serving static files. (necessary in order to break the front end up)
-Added a restful interface to facilitate simple commands.