Clean up formatting, improve consistency of descriptions and ensure units are defined.

Clean up formatting, improve consistency of descriptions and ensure units are defined

Clean up formatting, improve consistency of descriptions and ensure units are defined

Adds missing local position and global position data

use the proper check to prevent multiple mavlink instances on the same udp port, added warning when different remote than localhost connects to udp

added takeoff logic for position controller to get the uav off the ground fast and transition smoothly to poctl after takeoff, added landing logic to reduce thrust to zero once on the ground