Started in on rewriting takeoff & landing to use the state machine.
Broke takeoff. Run master, not this branch.
Many changes in many places. Parameter reading now works, I think.
Moved copter control scripts to scripts/. Probably completely broke
flying by starting the state machine rewrite.
We fly again & don't spin around uncontrollably, which is a
definite improvement. SHIP IT.
Merge pull request #12 from ceejbot/flight-control-1

Make parameter-reading work; clean up flight a little