Cleanup - removed unneccessary comments
More cleanup and correctly reversed rudder servo direction
Implemented setpoint heading decay
Added a decay limit to the setpoint decay system such that enough offset 
for disturbance rejection purposes remains.
Whitespace balanicing
Added DECAY definitions to samara airframe file
Made heading decay parameters adjustable over telemetry
Created a setpoint tab in settings to handle decay, servo averaging and 
estimate gains.
Removed sample size and grav gain from the settings mode tabs