tri gyro data reading fix - closes issue #18

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@464 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
personal debug changes

6 32 bit vars can be used for debug now
added option to disable setting motors to minthrottle

that way the copter still stabilizes it's self when throttle is at
minimum
set mma to 2G range for higher precision
new baseflight pid

full gyro scale is used now
and a new pid with float calculations was added