Updates

Defined functions to communicate to certain I2C devices in order to set
certain registers
Disabled turn off method of turning the quad upside-down
Changed the getGyroDPS() function to accept three values to that will
be converted to DPS; makes it easier to use the noise reduction method
if necessary
Added three different sets of PID constants to experiment effects on
balancing
Added a line in the setup function to change some of the registers on
the accelerometer