[lpc][IRQ] disable all interupts when i2c or spi submit

it is not what we want, but the result is a much more stable code,
might be due to asynchronous behavior of VIC/core interaction

needs deeper investigation
[sonar] and event hook to use the sonar with the ins
[sonar] split sonar modules with and without ins binding
[doc][modules] minor update to sonar doc
[spi] remove warning
[dfu] print exception
[supervision] allow launching of external tools with absolute path
[rotorcraft] use horizontal guidance ref by default

Also use the horizontal guidance reference for HOVER mode.
Using the reference can be temporarly disabled via settings.
The reference is then still computed to stay consistent, but not used.
[nps] don't bypass ahrs by default

By default use the result of the normal ahrs estimation,
if you want to bypass that and use the attitude from NPS define NPS_BYPASS_AHRS to TRUE.
[rotorcraft][messages] GUIDANCE_H_INT message
[airframes] update GUIDANCE_H gains for quadrotor example
HF Wanze
hbmini rebase done
mpu6000 compiles
mods for hbmini / 74138 / mpu6000 / lpc21 jtag debugging
mods from local