Typos, whitespace and commented out some unused code
Simplified the way incoming PID values are parsed

Also print PID values at startup
Move RX data check inside RX.c
MPU-6500 values should still be read even though we are not armed in case we are in self level mode
Use LEDs to indicate status
Make sure we have valid data and are unarmed before starting up
Added delayMicroseconds function

Unused for the moment
Limit motor update rate to match ESC's (400 Hz)

Also halved elevator and aileron control
New PID values