Merge pull request #11 from luggi/newpid

new Baseflight PID
whitespace and formatting cleanups from latest commit
personal debug changes

6 32 bit vars can be used for debug now
added option to disable setting motors to minthrottle

that way the copter still stabilizes it's self when throttle is at
minimum
set mma to 2G range for higher precision
testing some althold related stuff