go go fmt
Modular re-write.
Changed code to be more modular.
Should make it easier to add new sensors, and sensor types.

	modified:   ins_driver.go
	deleted:    motioncalc.go
	modified:   navicomp.go
	new file:   sensorEqn.go
	new file:   sensorManager.go
	deleted:    tcpComs.go