Port the relevant changes from the SingleAxisController repository

[MichaelD33]

Most of the recent development on this project has been occurring on a separate repository— see: SingleAxisController repository.

The single-axis controller repository was developed in order to perform testing and data collection in a simplified manner.

The dependencies for this library include:

• The single-axis controller firmware and testing jig

In theory, the single-axis controller program should be (functionally) the same as the main AIO program, the only difference being the changes that are necessary for testing in this jig. These changes include disabling the unused motors and manipulating the IMU output to provide data which is more convenient for the testing purposes. Nevertheless, I have made a number of changes to the program that have not (yet) been ported to the main controller program. Hence, I will be creating a new branch of the AIOFC repository dedicated to making these adjustments.

These changes include:

• i2cdev library — quaternion measurement, DMP usage, filtration, etc.
• Adjust loop sample timing (see SAC issue Convert orientation from QuadX to Quad+ layout #5)
• Update the config.h parameters
• On the fly PID tuning capability

Further changes and adjustments will be added as noticed.