Merge pull request #35 from pstephen43/master

sync up
Merge pull request #36 from pstephen43/master

sync up
bending metal
end ramp logic fixes
resolving merge conflicts
fixed the broken gyro data glich
Merge pull request #201 from PJTNT11/master

several fixes
changing from abs_log() to abs_dlog()
cleaning up start task functionality
Merge pull request #21 from pstephen43/master

sync up