Merges with current latest commit (rmackay9 41ba4a1ed217715d82a2c83e6a65686d3f035124):
Robert, Joly and Leonard's Acro, traditional helli modifications incorporating
    all of github.com/jolyboy/ardupilot/commits/New_Rate_Controller commits and
    included Daniel's minor user parms enhancements: AD_WPNav: added WPNAV_STPG_LSH
    Copter: added FLTMODE_SSPD and Copter: added FLTAUTO_MINTOA