[stabilization] Indi rewrite

[fvantienen]

• Rewritten the INDI code
• Added a new INDI rate controller (by Ewoud Smeur)
• Made rate controller optional (you can add the subsystem in your airframe)
• Removed a warning that time was overshadowing in the NMEA parser
• Removed warning in CHIMU
• Fixed airframe files and configuration files with Rate controller

Some things that maybe need to be fixed:

• Fix GCS and stabilization mode switch to show correct mode