Working Flight Code

Sorry for not syncing lately. Switched to a new IMU and
microcontroller. Created a Config file (again). Saved the old Config as
another IMU header. Built a Simple Moving Average Filter (SMAF)
library. IMU axes rotated 45 degrees. Controller axes also rotated to
enable X-drive. Switched many variables into 3-element arrays that are
declared from the scope of the loop. FilghtControl now uses two PID
loops augmented by other P loops in order to stabilize yet be
responsive to error. Yaw PID has also been added.