Add organizational headings to common MPU9150.*
Note which physical pin the PWM is output on
servo_control Makefile uses new compiler
Clean up servo_control's main.c
Change pin label, indent in servo extdetail
Clean up extdetail
Clean up cmddetail
Delete useless readme.txt
Remove psas_packet.c (it didn't define anything).
Clean up data_udp, psas_packet
Clean up pwm_config.*

Didn't take very long, since they're pretty well organized.
Add fn doc comments to extdetail.c
Replace tabs in cmddetail.c