USC 2017 Competition

Code flown in the USC 2017 competition. Not too many changes made to the underlying repo, however the major changes added were:

• Autodiscovery support that would remove the need for us to memorize the data relay ip and port numbers
• Support for a serial connection to that picpilot itself, bypassing the xbee. Removes the need to hookup xbee's everytime to test out the datalink
• More efficient datalink protocol that eliminates the need for padding bytes, and allows us to send down smaller sized packets at a faster rate