Added #defines for using optical flow vs. VRPN and using integrated gyro for yaw. Updated Gyro Z bias. Changed some sensor processing regarding optical flow.

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

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

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.

diagram for you.