Had to make small changes to headers in quad inc

Moved yaw correction to its proper location (between velocity PID output and before pitch/roll PID input).
Eliminated leftover graph_add_node_SpecificTypeHere() functions.

resolves #10

Added define for USE_LIDAR. Lidar is still polled and the node is updated, but it is not used for altitude control by default.

Allowing throttle to be down during autonomous.

Properly setting sampling time for altitude PID with LiDAR. Fixed HW impl tests for lidar_t changes.

Refactored velocity configuration in control algorithm. Made default PID constants the good ones. Corrected the velocity sign. There might be sign errors with the velocity PID constants.

this resolves #3