madflight v2.4.0

This release adds the PID module.

Breaking Change : Recalibrate IMU/MAG when Upgrading

The IMU/MAG needs to be re-calibrated when you upgrade, because the calibration values are now based on the raw sensor data before mounting rotation is applied. In the previous version calibration was done after applying mounting rotation.

What's Changed

• Add MF_Filter, move calibration+rotation to Imu from Ahr by @qqqlab in #144
• Add flightmode parameters by @qqqlab in #145
• MsgBroker: make void* methods protected by @qqqlab in #146
• Fix logging for imu,ahr,out,rcl by @qqqlab in #147
• PID Controller Module by @qqqlab in #148

Full Changelog: v2.3.3...v2.4.0