= try hold PID I term = zero, increase delta mix throws by 25%, clean up eeprom functions

- set hold PID I term to zero (to reduce drift error).
- increase delta mix AIL and ELE surfaces by 25% (* 5/4). need to check for potential overflow past 16 bits if output[] is too high.
- update eeprom reset led update on eeprom boot_check from 6 sec burst to 3 sec burst.
- set calibration_wag_count to 9 (instead of normal 3) if eeprom was reset. used to indicate if there may be a problem (eg corruption) that caused the device to reset it to default.
Merge branch 'master' into HH
= rebuilt test hex file due to rollback at

https://github.com/noobee/FlightStab/commit/0e21a66c66f4888127f10c53944ac8256208cc0f
Combining RATE and HOLD PIDs into one

- attitude difference is equivalent to the integration of the rate error.
- reseting to new attitude simply resets the error to zero
- RATE mode should have low PID I term, HOLD mode should have high PID I term (and lower P term)

- also made some improvements to the DELTA/VTAIL mixing for 125% throw. No more multiplications, only shifts and additions
Merge branch 'HH' of https://github.com/noobee/FlightStab into HH

Conflicts:
	FlightStab/FlightStab.ino
Revised PID engine and setup to combine RATE and HOLD.

integrating rate over fixed time steps derives attitude, so the sum_err in the pid state with rate as the control variable represents the amount of attitude change since it was last set to zero. multiply that by the I parameter derives the correction due to attitude change. reseting relative attitude simply clears sum_err to zero.

- new compute_pid(), separate parameters from state.
- 2 sets for pid parameters: RATE and HOLD
- RATE is PD
- HOLD is PID with reduced P (and also D for now)
- reset attitude in HOLD mode by clearing sum_err in pid state to zero

TODOs:
- re-evaluate the PID relative weight shifts, i think PID_KI_SHIFT needs to be lower (from 6 to 4)
- re-evaluate the D parameter in HOLD pid
Revised PID engine and setup to combine RATE and HOLD.

integrating rate over fixed time steps derives attitude, so the sum_err in the pid state with rate as the control variable represents the amount of attitude change since it was last set to zero. multiply that by the I parameter derives the correction due to attitude change. reseting relative attitude simply clears sum_err to zero.

- new compute_pid(), separate parameters from state.
- 2 sets for pid parameters: RATE and HOLD
- RATE is PD
- HOLD is PID with reduced P (and also D for now)
- reset attitude in HOLD mode by clearing sum_err in pid state to zero

generated hex files, removed previous 20130420_* and test hex file..

TODOs:
- re-evaluate the PID relative weight shifts, i think PID_KI_SHIFT needs to be lower (from 6 to 4)
- re-evaluate the D parameter in HOLD pid
Merge branch 'HH' of https://github.com/noobee/FlightStab into HH