First cut at hexakopter control overhaul
Added first draft of auto-takeoff routine
First cut at PID hover controller
Changed throttle gains and added lateral PD (still not working)
Fixed lateral PD signs and gains, opened limits on throttle control.
Fixed control mode switching logic
First working version of the controller (a little loose though)
Merge branch 'hexamac' of github.com:carson/airconvision into hexamac
Controller updates for 13-Dec demo
Updated for new inner-loop (attitude rate) controller.
Updated for new inner-loop (attitude rate) controller.
Merge branch 'hexamac' of github.com:carson/airconvision into hexamac

Conflicts:
	PTAML/src/TargetController.cc
Merge branch 'hexamac' of github.com:carson/airconvision into hexamac

Conflicts:
	PTAML/src/TargetController.cc
Merge branch 'hexamac' of github.com:carson/airconvision into hexamac

Conflicts:
	PTAML/src/TargetController.cc
Swapped control signs and adjusted yaw limits. Attitude gain probably too high still.
Missing parenthesis
Reduced control gains.
Merge branch 'hexamac' of github.com:carson/airconvision into hexamac
UNTESTED: Revised target controller to do state-feedback of position and velocity. Revised UART to send state feedback plus Euler angles. Revised altitude control to accept altitude setpoint from FlightCtrl. Revised thrust commands to be relative to the R/C stick.
Added missing parentheses in target controller. Added immediate position hold after TO. Added communication of altitude setpoints from R/C.