part 3 of the great sensor axis unfucking. careful flight testing may commence.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@400 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
merge in althold changes from github

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@401 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
higer precision float radian angles are now used for acc and mag rotation
no need to cripple the readings here

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@402 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61