[rotorcraft] attempt at some cleaner stabilization includes
[test] some python cleanup
[modules] Compile gps_ubx_ucenter.c independently.

closes #571
[tool] some more python cleanup
[math] minor update for math lib building

use PAPARAZZI_HOME and install to /usr/local by default
[conf][test] cleanup: remove old booz stuff
[simulator] cleanup: remove old_booz sim
Merge remote-tracking branch 'upstream/master'
[H_CTL][Stabilization] Signs corrections in rate loops
Minor configuration changes