Add deadzones and command clamp #73
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After our last flight test, we realized that the input mapper could really use some deadzones to avoid gradual drift in high-level control. I also am concerned about rates moving faster than the vehicle can manage, so I added command clamping to avoid letting the altitude, course, or airspeed command get too far away from the current state of the vehicle.
Both of these are working well, with the exception of the course clamping. There is a steady state difference between the commanded course and the estimated course, making moving in one direction slow because it is being clamped to a state that is further away than it should be. @iandareid do you know why this might be?