Remove main.c's dependency on mw.h/board.h.

Moved pidControllers out of mw.c into flight_common.c/h.
Moved appropriate code into rc_controls.c/h.

src/rc_controls.h

@@ -0,0 +1,38 @@
+#pragma once
+
+typedef enum rc_alias {
+    ROLL = 0,
+    PITCH,
+    YAW,
+    THROTTLE,
+    AUX1,
+    AUX2,
+    AUX3,
+    AUX4
+} rc_alias_e;
+
+#define ROL_LO (1 << (2 * ROLL))
+#define ROL_CE (3 << (2 * ROLL))
+#define ROL_HI (2 << (2 * ROLL))
+#define PIT_LO (1 << (2 * PITCH))
+#define PIT_CE (3 << (2 * PITCH))
+#define PIT_HI (2 << (2 * PITCH))
+#define YAW_LO (1 << (2 * YAW))
+#define YAW_CE (3 << (2 * YAW))
+#define YAW_HI (2 << (2 * YAW))
+#define THR_LO (1 << (2 * THROTTLE))
+#define THR_CE (3 << (2 * THROTTLE))
+#define THR_HI (2 << (2 * THROTTLE))
+
+typedef struct controlRateConfig_s {
+    uint8_t rcRate8;
+    uint8_t rcExpo8;
+    uint8_t thrMid8;
+    uint8_t thrExpo8;
+    uint8_t rollPitchRate;
+    uint8_t yawRate;
+} controlRateConfig_t;
+
+extern int16_t rcCommand[4];
+
+bool areSticksInApModePosition(uint16_t ap_mode);