Copter: int gyros on arm, not on first boot

this makes first boot much faster
PX4: changed startup to fail if no px4io on FMUv2
Plane: faster startup

make it less likely to send wrong INS_PRODUCT_ID, plus don't waste as
much time
AP_InertialSensor: SITL doesn't use Oilpan code any more
Plane: added altitude and ground speed to NTUN logs
AP_Airspeed : Fixes bug that caused airspeed calibration to be sent a zero airspeed

This bug resulted in the airspeed ratio going to the maximum value of 4 and staying there. This could lead to a very slow flying model and a stall.
Plane: fixed PM message
Rover: fixed PM message
Plane: mark 2.76beta1
InertialNav: added get_velocity_xy
Copter: TOY mode updates
Copter: remove unused Toy param
Copter: remove unused get_acro_yaw
Copter: CH7 SaveWP fix corner case

If the user is on the ground and flips CH7, do nothing instead of recording a bad takeoff altitude. Do another check to avoid a land right after a takeoff.
AutoTest: copter ch7 option to SaveWP
AutoTest: wait 1sec when saving wp
AutoTest: remove unnecessary wait from SaveWP test
InertialNav: fix for get_velocity_xy

forgot to sq
Copter: updated toy gains