TauLabs/TauLabs — pull request #1080 by peabody124 (2014-01-20 04:42:38+00:00)
Title: Altitude Hold restructuring

This implements the restructuring discussed in #1064

It moves the estimation of the altitude and velocity into the attitude module independently
of the control code. The algorithm for fusion has changed from the EKF I wrote previously
to a simple complementary filter, similar to the one from Arducopter.

The AltitudeHold module now only implements the control code based on the state estimate
from another module.