Links Drone and controller and dispatches chance to execute

Links Sensors and Motors and contains core stabalization logic, controlled with operations such as XYZ

Differnt controllers permit different types of operations, the controller is responsible for determining overall navigation (Smallest case: reading inputs from a remote control or phone app vs Largest Case: Autonomous flight such as flying to a proscribed destination etc)

Controlled from the Drone class

Links motor speeds into pitch, yaw, roll operations

Managed from the Drone class

Manages position sensor that provides accelaration, and accumulates those accelarations into velocity and position information.

Also contains calibration logic

In the first 2 seconds the drone must be on a flat level surface. During this time the drone is reading sensor data and normalizing the readings To represent a zero acceleration scenario

TODO: Full deflection and senstivity calculation is not occuring

Run ./test.sh to trigger test cases Must install gnuplot to see test graphs

MPU 9250 Interface Derived from https://github.com/PiStuffing/Quadcopter/blob/master/Quadcopter.py