added step_time control in main loop and some extra commands for sending code to PC via xbee
xbee control and data sending in MRF format working perfectly
Data acquisition code running properly alongwith Quadrotor-MATLAB v0.1
Code updated to send IMU data at 50Hz and working properly
changed all commands to lower case %ALPHA6 10.0 is now %alpha6 10.0
control parameters are now stored in EEPROM so that tuning memory is preserved