Better use of gyro in re-zeroing process

[TheFlameFish]

Frontend Features:

• Driver can press back / select button on controller to re-zero odometry yaw based on gyro output. This allows for substantially faster re-zeroing if we lose field-centric.

Backend:

• Configure omnimount so we don't have to invert our gyro output (done on physical robot)
• When doing a full yaw re-zero (start / menu button), re-zero the gyro as well. This means our gyro output should be accurate and always zeroed independently of overall odometry. This will be useful if we use constrained solve pnp for our vision algorithm.

Todo before ready for merge:

• Test on Dory
• Configure OmniMount on Nautilus and modify code accordingly (don't invert gyro output)
• Test on Nautilus

[Ace5tar]

actual code looks fine to me, I would just be sure that drivers want it to be start for NavX re-zero and back for field-centric only, not vice versa in case

[Ace5tar]

actual code looks fine to me, I would just be sure that drivers want it to be start for NavX re-zero and back for field-centric only, not vice versa in case

Previous review was meant to be an approval, i misclicked

[TheFlameFish]

Nautilus gyro no worky. Fix on this branch I hope maybe