Fixed P matrix in Update Stage
Merge branch 'master' into registrationTuning
New update code. Still trying to figure out why it goes to shit.
modified kalman for noreg, no testing done yet
added sonar update
cleaned up code slightly
added onquad and planegun ifdefs
Corner tracking works, once again. Tuning may be required
minor cleanup
added control bits
added protocol to ryans mbed
more control stuff
readded preprocessor flags
Finished quadboard comms, no testing done
checked in thalamus software for our editing pleasure
reset use of raimu to rawimu
Ultrasound code changes
last stuff of tues
made syncer eat alignment byte
added R10 Thalamus as submodule