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Adding ability to fly with roll/pitch controlling east/north
This changeset overrides the attitude/rate mode controller to use as change between 'QuadRelative' and 'TrueNorth' flight modes. In 'QuadRelative' mode pitching makes the quad go forward. In 'TrueNorth' mode, pitching makes the quad go Northward, regardless of the yaw rotation of the quad. This is achieved by rotating the receiver commands before anything else uses them. The rotation prevents the calibration command from occuring in 'TrueNorth' flight mode.
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