AP_Vehicle: add multicopter parameters
Copter: move angle_max parameter to AP_Vehicle
AC_AttitudeControl: add rate stabilize controllers

Integrate AP_Vehicle for angle_max parameter
Reordered methods
Copter: Stabilize mode to AC_AttitudeControl

Removed use of update_roll_pitch_mode, update_yaw_mode
Integrated use of AP_Vehicle for angle_max
Copter: remove POSITION mode