fixes #177; removed bad reference and simplified calculation
Merge pull request #184 from BrianAdams/v2.5.0-rc1

fixes #177; removed bad reference and simplified calculation
fixed #119; C to capture and image. LB on gamepad.
Merge pull request #205 from BrianAdams/issue119

fixed #119; C to capture and image. LB on gamepad.
Manually tested. No issue from Scrutinizer. Committing.
fixed #176; The arduino firmware now manages reversing thruster orientation
Fixed merge issues