HAL_AVR: configure analog inputs as INPUT without pullup

not all pins were defaulting to this, which led to some strange
readings on some devices. First noticed by Andi on a LM335 temperature
sensor
HAL_PX4: play some tones on PX4IO firmware load

gives some chance of knowing if it worked
Copter: remove unused NAV_WP_INAV #define
Math: add wrap_PI
Copter Nav: add accessor for waypoint speed
Copter: remove debug message
Copter: circle mode fixes
Autotest: update randy's sim script
AutoTest: add circle mode test
Copter: alt hold feed forward filter
APM_Control: neaten up code formatting
Plane: zero attitude integrators on the ground
APM_Control: cope with zero integrator or tconst

if the user zeros the integrator tuning factor, we need to zero the
integrator
Plane: reset attitude integrators on mode change
AutoTest: reduce circle test time
Copter : Land submode - Check for GPS 3D Fix instead of checking for available home position