AP_InertialNav: added constraint to how large local accelerometer offset corrections can become
ArduCopter: changed alt hold to use the sonar if enabled and healthy
AP_GPS: put SIRF init_messages in progmem

this saves 32 bytes of memory
Build: fixes for building with avr-g++ 4.7.0
MAVLink: moved CRC table into program

this saves 256 bytes of memory
FastSerial: make interface 8 bit and add write_buffer_nonblock() call

this saves a fair bit of CPU for ArduCopter
GCS_MAVLink: fixed const in buffer based send call
AP_Param: added copy_name_token() interface
Copter: ensure we process deferred mavlink messages
Copter: use AP_Param::copy_name_token()
Copter: minor mavlink cleanup
MPU6000: use expected sample time, not actual sample time

this avoids problems in the scheduler turning up as errors in the DCM
calculation. The MPU6k produces samples with more reliable timing than
our scheduler does!
GCS_MAVLink: use AVR assembler CRC function if available
DataFlash: removed debug message
Copter: don't log events with LOG_BITMASK==0
Copter: move read_AHRS() before run_rate_controllers()

this ensures the rate controllers use the latest data
AP_Baro_BMP085: increase ratio of pressure reads again to be 5:1 (was 4:1)
ArduCopter: increase firmware version to 2.9-rc3
ArduCopter: alphabetized the contributors list

Jonathan Challinger added
ArduCopter: disable ITERM logging by default

This message takes 1ms to write and we are running over our limits on
some loops.