Implement Realistic Yaw Calculation and Control Loop

[yufurkan]

Objective

Calculate the Yaw angle realistically using the onboard MPU6050 sensor rather than relying on perfect simulator data, and implement the Yaw PID controller to complete the 6-DOF flight dynamics.

ATTNETİON:
Since the MPU6050 lacks a magnetometer, absolute heading cannot be determined. The Yaw angle must be estimated by mathematically integrating the Gyroscope's Z-axis rate over time (Yaw += GyroZ * dt), acknowledging and accepting the inherent sensor drift.

• Update ImuSensor.cpp to calculate and store the Yaw angle via Gyro Z integration.
• Instantiate pid_yaw in AppMain.cpp with appropriate tuning limits.
• Map receiver CH4 (Rudder) to the Yaw setpoint.
• Calculate the Yaw PID output and feed it into the ActuatorMixer to generate the correct PWM signal for the Rudder.