Exposing Rotor Runup Time as a parameter.  This is because some ESC's with a good soft-start mode can be switched on with no Ramp Rate, but will still require some time to run up before you can start an auto mission.
Tradheli:  Created new flag to signal when the motor is running or not.  This is mainly to enable better control of the Colyaw.  Previously, Colyaw started suddenly after the motor had been running at speed, which resulted in a rudder jerk.  Now the Colyaw will start as soon as the motor is started.