Plane : APM_Control : Removed scaler incorrectly applied to the integrator path
Copter: the INS object is needed for HIL_MODE_SENSORS

otherwise we can't level, so can't arm
TECS-WIP : Consolidated patches for peer review and flight test

Conflicts:
	ArduPlane/ArduPlane.pde
	ArduPlane/Parameters.h
TECS-WIP : Fixed compile error following rebase on origin/master
Plane: fixup TECS after scheduler merge