some bug fixes, added basic camera leveling example for pitch only. Added DCM...

some bug fixes, added basic camera leveling example for pitch only. Added DCM test. Added better Yaw gain defaults. Split radio and RC inits into two calls. Removed inappropriate auto_trim function.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1307 f9c3cf11-9bcb-44bc-f272-b75c42450872