Safe Mode, and general clean up

AP_Config.h
- Remove comments used for testing GIT
- Make Mode01=Mode02=QUAD_SAFE, and Mode03=QUAD_MAN
- Make our GPS_PROTOCOL=-1, since we don't have a GPS unit

ArduPilot_2_7_Modified.cpp
- Only run decode_gps() if GPS_PROTOCOL!=-1, rather than !=3
- Set QUAD_SAFE servo_out[] to be 1100 for every channel

ArduPilot_2_7_Modified.h
- Add extern to new function "set_pwms_and_mux_quad()"
- Add extern to new function "startup_ground_quad()"

defines.h
- Add #define for QUAD_SAFE

servos.pde
- Add definition of set_pwms_and_mux_quad() to set safe non-passthrough

system.pde
- During init, if QUAD_COPTER then set mux to non-passthrough
- Add serial print to indicate QUAD_COPTER mode
- Add function "startup_ground_quad()" for QUAD_COPTER mode