Merge pull request #41 from pstephen43/master

sync up
Merge pull request #42 from pstephen43/master

sync up
Merge pull request #43 from pstephen43/master

sync up
fixed some data loging errors and changed some gyro things
Merge pull request #210 from PJTNT11/master

sync
Merge pull request #44 from pstephen43/master

sync up
cleaning log
Merge pull request #45 from pstephen43/master

cleaning log
Merge pull request #211 from K-McK/master

sync up
changed some logging snuff
Merge pull request #212 from PJTNT11/master

sync up
Merge pull request #46 from pstephen43/master

sync up
debugging fishtail issue
added useless things
Merge pull request #213 from K-McK/master

small things, bits of smoke test
merging
Merge pull request #25 from pstephen43/master

sync up