started implementing a custom body rate controller.
Further development of the rate controller. it compiles now.
further development of rate controller. After initial tests it seems to be working correcly but needs some tuning and refining in handling special cases like saturations.
implemented a saturation if a desired rotor thrust exceeds its maximum
moved some uart handling functionality out of the rate controller main function.
Made rate controller and ardrone interface independent of each other. The ardrone interface is customized as a new module in rpg_modules
made motor input array of motor inputs uorb message fixed size.
Some small changes for first test in optitrack. This version is flying in the optitrack!
now motors cannot spin anymore if a zero thrust is applied.
changed from publishing applied motor commands to applied rotor thrusts. Additionally, an identified kappa is now used.
changed type of input_thrusts message to float.
implemented sending back the applied rotor thrusts but it is not functional with mavlink yet
some more console output when starting or stopping deamons
some minor reformatting
merged rate_controller_dev into master branch