The main rotor ramp was being held back by the rotor speed estimate
instead of being allowed to jump up to the estimate if it's lower.

Also fixed some incorrect indentation

Set FRAME parameter to 10

this enables the DATA96 packet to be sent

This should allow single copter's MOT_ parameter descriptions to be more
easily recognised as belonging to SingleCopter when viewed on the wiki's
arducopter-parameters page

This may fix the issue in which the parameter descriptions are appearing
twice on the arducopter-parameters wiki page

Setting the GPS Failsafe to LAND_EVEN_STABILIZE means the copter will
LAND if it loses GPS even if it's in a manual flight mode like
Stabilize.  With this setting it makes sense to check the GPS quality
before arming even if we're in stabilize mode.

When GPS message is late by 100ms or we are glitching, degrade the GPS
vs inertial nav position error to 10% over 2 seconds instead of
immediately setting it to zero.  This avoids jumpy position estimates
when the GPS misses an update

Previously it was outputting throttle-in which is not as useful in
autonomous modes