No Adafruit Libraries, PWM instead of Servo, Github sync issues cleared up

Adafruit libraries were removed. Config header added to declare
variables and Wire functions for I2C communication to the sensors.
Servo library was also removed, simply using PWM signals for the ESC.
The servo library comes with an inherent time delay when writing
signals.
Fatal error in drift compensation fixed.
MIT_PID model removed. Own PID library implemented.