Update controller.c
Update controller.c

Changed stabilizing_motors_force_to_pwm to fit 4 motors instead of 3
Created 2 subgroups for motors, group A for fwd/yaw motors, group B for pitch/roll/depth motors
Only 4 motors can be run simultaneously
Updated coefficients for force to PWM translation, stated assumptions about motor polarity
mda-ut/Tempest,mda-ut/Tempest,mda-ut/Tempest