TradHeli: leaky-I-term based on dynamic_flight_detector
TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check.  This is to prevent false positive where the collective is pushed up before the motor is started.
TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector
TradHeli: dynamic_flight flag based on inertial nav speed

Created new heli.pde for heli_integrated_swash and check_dynamic_flight
TradHeli: Modify the constrain on the auto throttle controller to prevent it from commanding full down collective if we think we are on the ground still.
TradHeli: Modify Throttle_Auto to prevent helis from pushing hard downward while running up the motor. We will set the collective pitch to stab_col_min which should result in a mild downward pressure if the user has set their parameters correctly.
TradHeli: Add Motor Runup check to the auto_arming check.
Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete.
Copter: formatting and param description changes
TradHeli: remove setup via CLI

Saves 6k of flash
TradHeli: make parameters and variables private

add accessors for variables and params required in main code
replace tabs with spaces
TradHeli: integrate motor lib changes
TradHeli: formatting and param description changes
TradHeli: bugfix to update swash in run_rate_controllers
TradHeli: add get_pilot_desired_collective

Perhaps this should be moved to the main code's heli.pde sketch
TradHeli: add THROTTLE_MANUAL_HELI

Move check_dynamic_flight to run as scheduled task
Copter: initialise roll, pitch, yaw modes to stabilize

This fixes a bug in which the stabilize throttle controller would be
non-tilt compensated until the user switched to another flight mode and
back again
TradHeli: add landing collective min
TradHeli: use landing collective when landed or landing
TradHeli: Use Leaky Integrator on Yaw Rate controller

Use when rotor is not running to prevent the rudder from slowly moving over