[ins] improving and cleaning ins interface

- INS interface build for FW and Rotorcraft on the same basis as AHRS
- For FW, most of the old estimator (vertical kalman filter) as been moved
  to the new ins_float. Some triggers are missing for main_ap, especially
  the baro_event since the Baro interface is not done here.
- Some more integration is needed to remove old estimator.c
- INS modules should follow the general interface
- FW main_ap is not very clear concerning the INS (nor the AHRS) because
  of the freq scaling part from CDW
[baro] add baro interface to FW

So we can trigger ins_baro_update.
Start to solve issue #106
[baro] baro_board module is not needed in FW for boards with baro

need to handle baro measures coming from modules
[baro] adapt baro_board module to the new interface

Some modules can be used directly, some needs some more changes or
adaptation
[ins] feed ins estimator on baro event
[fix] dirty hack to compile telemetry
[fix] fix typo in ugly fix...
[wind] use wind from state interface
[flight plan] update flight plans to use state interface
[wind] wind handled by state interface everywhere
[airspeed] remove airspeed from old estimator
[fix] was a pointer here
[baro] fix some direct calling to altitude update
[fix] call the correction function...
[nps] ahrs bypass feeds state interface
[fix] update integer not float...
[flight_time] estimator_flight_time is now autopilot_flight_time
[AoA] add angle of attack and sideslip to state interface
[conf] added FrSky_TFR4 radio file from Gareth
[state] finally getting rid of old estimator