this should autodetect 1.0 versus older builds

this was preventing building MAVLink 1.0 with the arduino GUI as we
can't set cpp defines

these are a very useful reference for the current headers in the code

this fixes the camera control code which was broken by a previous
import

this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints

this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.

The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.

the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:

  http://diydrones.com/xn/detail/705844:Comment:834373

Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.

DataFlash_APM2 - moved CS_inactive call (which disables the dataflash) from the beginning to the end of all methods.  This means the dataflash does not monopolize the SPI bus.
    Also formatting changes to use tab instead of space. Sorry, should have done this as a separate check-in to the above changes.

this allows users to change the yaw gain in DCM

this adds local and remote radio noise levels

AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined.  This would only have affected Y6 frames.

AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method.

AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable.  Fixed by removing those  the angle and direction arrays which weren't even used

AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file.  They're the same in arduino but perhaps the build checker is a little more strict that Arduino.

AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function.
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.

     1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
     2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
     3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)

Later check-ins will incorporate into the main ArduCopter code.

this allows us to put a serial port into non-blocking mode, so that
writes that don't fit in the transmit buffer are dropped. This will be
used in flight to prevent stray printf() calls from causing large time
delays in the code