implemented invSqrt & disabled pointers to accel
switching from doubles to floats

(significant performance boost), invsqrt disabled (untill all of the
output issues gets resolved)
cleanup and sqrt bugfixes
polishing for initial configurator page
GPS PID fields in EEPROM
400 and 250Hz PWM definitions
tiny strikes in the GPS section
pid initialization polishing
GPS up
Merge remote-tracking branch 'upstream/master'