ArduCopter - navigation - corrected comment in check_missed_wp function to clarify that you've passed the waypoint when the direction to the way point is more than 100 degrees off (not 10 degrees off) from your original bearing towards the waypoint

ArduCopter - Navigation.pde - corrected comment re wp_distance and get_distance to clarify that they are in cm (not meters!)

AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods

this allows us to use a tested and optimised rotation method

this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it

if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678

thanks to Justin for the suggestion

thanks to Justin for the suggestion

this will allow us to have an overall board rotation plus a per-sensor
rotation

this is the first step to creating a general AHRS class for ArduPilot

ACM: Arducopter.pde - Added a constraint to the NO_NAV mode to be similar to the Loiter and rate nav modes.

change default rates to 3 hz
fix log play issue without a log loaded
fix heli setup screen

AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy)
        - also removed unused _offset_press variable

ArduCopter - small change to ensure both roll and pitch commands are zero before switching out of loiter_override (loiter override becomes true when roll+pitch command is greater than 5 degrees and switches back to false when both become zero)
           - remove incorrect comments about when loiter target position is reset.

ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations)

these options are now settable via MAVLink

add sensor rate telem
save autopan between sessions
modify connect hb requirement and param timeout