Contribution from Doug Hilton.  Complete rewrite of data processing from lidar including crc error checking.

# Conflicts:
#	XV_Lidar_Controller.ino

Contribution from Doug Hilton.  Complete rewrite of data processing from lidar including crc error checking.

Added firmware version to config to enable easy identification of which firmware is loaded
Made use of the F() macro in Serial print statements to reduce memory usage
Enabled LED indication of transmitting data

Add SampleTime to Help menu

fixed typo
added save reply

implement fix for PID to work from EEPROM values - needs testing