Navigation code updated

[peabody124]

So the VTOL follower code has been updated following this merge https://github.com/TauLabs/TauLabs/pull/1054. Be aware this changes the units of the parameters for the velocity control loop. The defaults have worked fairly well for me though or something like this:

• HorizontalPosPI.Kp was 0.8 with zero Ki
• HorizontalVelPID.Kp was 2 with a Ki and Kd of 0.

which is more gentle.

You can see some notes on the architecture here https://github.com/TauLabs/TauLabs/wiki/FirmwareArchitecture:-Multirotor-Navigation and some videos of it working:

https://vimeo.com/85122181

https://vimeo.com/84184234

https://vimeo.com/83416006