2 gyro code

all of the wonderful changes, this is not tested on the field. It was
tested on the bench successfully
the 3-8-14 updates
Merge pull request #198 from PJTNT11/master

Added tags for doxigen
merging
merge
cleaning up refernces that were not updated during 2 gyro feature
Merge pull request #35 from pstephen43/master

sync up