Unify the layout of code
Finish timer input capture for radio control signal
Push input_capture files
Merge branch 'new_control_board' of https://github.com/moon-bear/firmware into another_new_brach_for_ming_to_test

Conflicts:
	program/test/estimator/attitude_estimator.c
	program/test/interrupt.c
	program/test/mcu_periph/test_periph.c
	program/test/mcu_periph/usart.c