Modifiedsome PI gains and added defines for more debugging
Merge branch 'master' of https://github.com/johnnyfisma/QuadCopter
Figured out how to get libraries working - so I'm starting to put them into one place instead of being copied into multiple projects.  Started by making a library for MPU6000 and cleaning the source code for it out of the KalmanIMU project.  Under the 'libraries' folder, added a .txt file which explains how to create and use libraries.