Takeoff, Toy mode, and Simple Gimbal control

Randy, 
Here are patches for three features:

Toy mode - see my email for this one. It's AWESOME!

Auto-takeoff - This works great, but degrades over time. I am not setting the altitude correctly and I think there is a bug in the alt controller around this. The target_alt varies each time you run the takeoff. Once this is set correctly, it works great.

Simple Brushless gimbal control - This is an alternative to the gigantic Mount object. Basically it looks at the Yaw mode and aims the gimbal using PWM out. Simple!

Jason