Merge pull request #363 from imchipwood/development

Fix to mode switching
Little rename
Merge pull request #364 from Kenny9999/development

Little rename
Delete unneeded files.
Merge pull request #365 from kh4/forPat

Delete unneeded files.
revert wooden integral error zeroed flight mode switch
Merge pull request #367 from Kenny9999/development

revert wooden integral error zeroed flight mode switch
reset integrated error switching from attitude to rate