Set biases and sensitivities for calibration purposes.
Remove unused file.
Move old calibration data to sub directory.

Old calibration data was performed when IMU was on frame sheet on left side of
bicycle. New location of IMU is on underside of battery plate.
Added calibration data.

This commit adds data from two of the six configurations.
WIP: Sine table implementation complete, need to test.
Add data from remaining 4 configurations of calibration.
Rename calibration files to include phi and theta.
Extract accelerometer and gyroscope data from calibration data.
Add calibration data from near reference configuration.

This data is used to compute the reference pitch angle. This angle allows us to
calculate the lean rate.
Update calibration script to proto message.

In addition to the six configurations, this script now also computes the
reference pitch angle from data collect with zero steer, near zero lean, and
both wheels touching the ground.
Use MPU6050 calibration data in firmware.

This commit changes what MPU6050 data is stored.  The accelerometer and
gyroscope values are corrected using the respective sensitivity matrices and
bias vectors, and then transformed from the sensor frame to the lean frame. All
instances where gyroscope_y was used as the lean_rate have been updated.

The calculation of yaw_rate has also been updated to use the estimated lean
angle to transform from the lean frame to the yaw frame.  The yaw rate estimate
has been added to the estimate proto message.
Simplify rear wheel controller anti-windup scheme.

Update integrator in the rear wheel PI controller only when control
torque is not saturated.
Fix static lean calculation.

Static lean calculation now uses accelerometer y instead of accelerometer x as
the imu signals are now given in the bicycle lean frame.
Merge remote-tracking branch 'oliverlee/setpoint' into imu_calibration
Add 'speed limit' shell function.

Add a new 'speed limit' function that sets the reference speed as in
done in 'speed' with arg1. After the bike has travelled distance arg2,
specified in meters, reference speed is changed to 1.0 m/s.
Do not reset integrator state when changing speed.
Change steer, lean LED logic depending on bike state.

LED logic is dependent on current bike state: STARTUP, COLLECT, RUNNING,
RAMPDOWN. Add an optional field to Sample.proto which is used to track
the bike state and the field is not written to file.
Add yaw rate PI controller.

This commit adds Matlab code for design of PI controller gains, output of yaw
rate measurement matrix, and firmware updates to implement PI yaw rate control.
No anti-windup is performed so we need to verify that steer torque does not
saturate. Crossover frequency was selected to be 0.1 Hz. Strangely, the Matlab
pidtune() function yields an integral only controller even though a PI
controller is requested.
Merge remote-tracking branch 'oliverlee/setpoint' into imu_calibration

Conflicts:
	firmware/src/control_loop-inl.h
Fix sign error on distance calculation.

Minor cleanup of illuminate_lean_steer() code.