Update README.md
Update mw.c

do not include serial nor telemetry handler in cycletime calculation
Merge pull request #118 from treymarc/patch-2

Update mw.c
remove heading duplicate declaration

extern int16_t heading; duplicate declaration line 363
Merge pull request #119 from treymarc/patch-3

remove heading duplicate declaration
yaw improvement

this should stop the copter from carrying on spinning at high yaw rates.
Merge pull request #120 from luggi/yaw

yaw improvement
Merge remote-tracking branch 'upstream/master'