*  Mods:  AC_WPNav.cpp, AC_WPNav.h added WPNAV_STPG_LSH parameter for stopping leash rate
 *         Parameter FLTMODE_SSPD Minimum Mode Switching Speed, Contro_Modes.pde, Parameter.pde, Parameter.h
 *         Parameter FLTAUTO_MINTOA Minimum Auto-Takeoff Min Alt, commands_logic.pde, Parameter.pde, Parameter.h
 *         Parameter YAW_ASLEWRATE Yaw Slew Rate Speed, attitude.pde, Parameter.pde, Parameter.h
 *         Parameter YAW_LAMSPD Yaw Slew Rate min speed, attitude.pde, Parameter.pde, Parameter.h
 *         Main enhancesments:  RL and JS trad heli works - arducopter.pde and attitude.pde
 *         Fully updated with current commit