Iris: Updated Pitch parameters and added IMU logging

Tools/Frame_params/Iris.param

@@ -19,13 +19,14 @@ FRAME,2
 FS_BATT_ENABLE,1
 FS_BATT_VOLTAGE,10.5
 FS_THR_ENABLE,1
-MOT_SPIN_ARMED,127
-RATE_PIT_D,0.008
+LOG_BITMASK, 958
+MOT_SPIN_ARMED,90
+RATE_PIT_D,0.006
 RATE_PIT_I,0.25
-RATE_PIT_P,0.17
-RATE_RLL_D,0.008
-RATE_RLL_I,0.25
-RATE_RLL_P,0.17
+RATE_PIT_P,0.185
+RATE_RLL_D,0.006
+RATE_RLL_I,0.22
+RATE_RLL_P,0.16
 RATE_YAW_D,0
 RATE_YAW_I,0.02
 RATE_YAW_IMAX,800