Major update of Attitude Computer

  - Rewrote the PID controller for standard form instead of
    parallel.
  - Computing the gyro integration via my new Simpson rule
    algorithm instead of trapezoidal integration.
Took I2C status variable out

  - This was incompatible with Due's ability to use I2C on the
    Wire or Wire1 interface.  Instead of rewriting this now I
    just took it out.