the changes bellow merged from http://code.google.com/p/multiwii/source/browse/#svn%2Fbranches%2FMahowik branch:
- Vario PID controller implementation (VARIO_ALT_CHANGE define)
- possibility to set predefined initial throttle for AltHold from GUI
(INITIAL_THROTTLE_HOLD_FROM_MID_EXPO_POINT define)
- protection from ARM if BARO activated
- condition to keep "I" parts on throttle less then MINCHECK for acc, gyro if
BARO activated

http://www.multiwii.com/forum/viewtopic.php?f=8&t=2371&p=26473#p26473

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1266 02679b44-d973-9852-f2fa-63770883b36c
some refactoring

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1268 02679b44-d973-9852-f2fa-63770883b36c
rollback changes as not stable yet...

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1271 02679b44-d973-9852-f2fa-63770883b36c
+ inflight acc calibrations gets own checkboxitem to avoid conflicts with fc bypassing
+ new variometer feature (audio feedback for rising/falling copter) - experimental
- updated coptertests
- some telemetry tuning



git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1273 02679b44-d973-9852-f2fa-63770883b36c
- variometer: remove code for testing vario on desktop
 


git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1275 02679b44-d973-9852-f2fa-63770883b36c
some bugfixes for alarmhandling:
Pattern pause handling fixed
turn off pilotlamp channels fixed

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1277 02679b44-d973-9852-f2fa-63770883b36c
critical fix for interrupted patterns (vbat level 1)


git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1280 02679b44-d973-9852-f2fa-63770883b36c
minor cosmetic changes

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1281 02679b44-d973-9852-f2fa-63770883b36c
Reworked mag gain calibration for HMC5883L, based on Fabio's FreeIMU code. Now it is as good as it could be on this processor...
(No changes in the mag calibration dance, gain calibration is done automatically at every startup). To compensate hard iron offsets yo have to do the dance...

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1284 02679b44-d973-9852-f2fa-63770883b36c
- remove CR/LF for vt100 output
- telemetry: less inverse chars - difficult to read on oled
- armedtimewarning & minthrottle as tunable params
- rename vbat warning levels - remove outdated 3S reference
- fix to OLED telemetry initialization
- fix writing to offscreen on lcd/oled
- fix variometer aux switch handling
- telemetry: updated gps status page 7 (both 2 line and multiline displays)



git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1290 02679b44-d973-9852-f2fa-63770883b36c
+ gps data lon/lat display tailored



git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1291 02679b44-d973-9852-f2fa-63770883b36c
- OLED font: do not store trailing zeros - saves 118 bytes



git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1292 02679b44-d973-9852-f2fa-63770883b36c
the blinkLED delay code distorts the buzzer.
this should be a fix.
if you have a buzzer the led is not blinking at startup calibration

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1293 02679b44-d973-9852-f2fa-63770883b36c
- telemetry:gps lon/lat reformatted to 3.5
- telemetry:motor+servo output: meaningful labels for helicopter
- oled optional double sized font for increased readability (split telemetry pages)



git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1295 02679b44-d973-9852-f2fa-63770883b36c