this gives more even timing in ArduCopter

this takes advantage of the INS specific method to wait for a sample

this waits for a new INS sample to arrive, using whatever method is
most efficient on each INS type

we could underflow and delay a very long time!

now needs a RGBLED_MODE_ON

allows threads to run on Linux

this prevents 5ms delays in compass accumulate

use a 500usec delay

the timer can block on I2C writes, which causes the main loop to run

lock all memory and pre-fault the stack in all threads

this is for a cheap ebay 10DOF sensor

This requires the libmaple fork at
https://github.com/mikemccauley/libmaple.git
which includes low level support for buffered usart transmits

documentation.