Quadrotor mixer, compile speed, configuration, json function, and backward compatability additions

[DunkTheDoughnut]

• Added compile switches for copter type and fixed quadrotor motor mixer
• Moved vehicle configuration to json file
• Moved IP and port to config file
• Added common json read and parse functions
• Compile time improvements
  • Added compile switches for controller type to prevent compiling all files
  • Moved boost headers to runtime
  • Moved many functions to runtime
  • Removed namespace includes in headers
• Added backwards compatibility for older compilers
• Moved EKF2 fusion mode to config compile switch