Corrected GPS latency to 1.5s from 5s.
Merge branch 'master' of github.com:Susurrus/Autoboat
Merge branch 'master' of github.com:Susurrus/Autoboat
Updated MPU library to experimental Madgwick-based one.
Updated code to support new quaternion imu+gyro data.

Plant now generates attitude vectors and gyro data.
Controller uses KPsiDot as its gain on the yaw-rate feed-forward.
HIL_sim is the only thing that has not yet been updated.
Merge branch 'master' of github.com:Susurrus/Autoboat