[fixedwing] add PERIODIC_SEND_AHRS_QUAT_INT
[fixedwing] remove sys_time include from autopilot.h
[test] update compare_ahrs
[modules] gps_ubx_ucenter: USB support

closes #569
[doc] minor descrption update for gps_ubx_ucenter
[dox] fix filename for baro_mpl3115
[boards] fix umarim BARO_ABS_ADS
[conf] remove non-functional FIRMWARE define

Defines don't work this way...
Was only used in gps_ubx_ucenter, replace it with GPS_UBX_UCENTER_SLOW_NAV_SOL flag
to set a lower NAV_SOL message rate (currently not set anywhere).
So you get full NAV_SOL messages rate for fixedwings as well
(just like before since the test for rotorcraft firmware was non-functional and always true).
Merge branch 'master' into telemetry

to resolve
Conflicts:
	sw/airborne/firmwares/fixedwing/ap_downlink.h
[telemetry] allow sending of MAG message even if not USE_MAGNETOMETER