also removed reference to DCM (no longer required) and removed some old code.

This interferes with the calculation of the centripetal acceleration
calculation in the DCM code. We need a new way of handling pitch trim

this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging

if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector

this fixes the attitude calculation for the multicopter simulation

this ensures waypoints and basic eeprom layout remain in sync

this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion

this makes it available both in shim and INS subclasses

this avoids us needing AP_Math.h in every utility sketch and example

this avoids a lot of EEPROM scan operations when the groundstation
updates the stream rates

this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM

this will be used by the compass code

Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.

The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.

fix misc errors
update polish
fix linux/mac bug. - seems alot more stable

formatting, made loop speed same as PIDT1 to eliminate variable.

this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.

elevon planes can have rudders too