update_v0.3
update_v0.4
update_v0.4: Add Interrrupt Support
update_v0.4: PWM support
update_v0.4: Multi PWM outs support
update_v0.4: PWM input Support: NOT COMPLETE
update_v0.5: PWM I/O Success
update_v0.6: PWM I/O GOOOD
update_v0.6: Added more PWM input functions
update_v0.7: Added Control Function, still need PID and feedback
update_v0.7: Added Control Function, still need PID
update_v0.8: optimize code, stop logger
update_v0.8: optimize code 2
update_v0.8: update comments
update_v0.9: PID additions
update_v0.9: Quaternion, Attitude update
update_0.9: Code overhaul, change to sensors coding
			Changed the code to allow for yaw consideration
update_v0.9: Almost flight ready
update_v1.0: Added Safety, started flight testing
update_v1.1: Fix motor output drift, restructured code