All changes made in doing the roll-testing

AP_Config.h:
Add DEBUG_INFLIGHT #define
GPS_PROTOCOL should be 3 for ArduIMU
Add GET_RATES_FROM_IMU #define
Add MIN_SPIN_PWM #define
Make REVERSE_ROLL = -1 for roll stick input correction

AP_PID_settings.h:
Make SERVO_ROLL_P = 0.2f for more proportional gain

ArduPilot_2_7_Modified.cpp:
Added roll/pitch/yaw_rate_sensor variables
Added some DEBUG_INFLIGHT messages
Added a QUAD_CLOSELOOP_RATES case to mode operation

ArduPilot_2_7_Modified.h:
Added extern for roll/pitch/yaw_rate_sensor variables

attitude.pde:
Added some DEBUG_INFLIGHT messages
Removed the pitch for roll feedforward/compensation
Added new method for holding a rate, not an angle

debug.pde:
Modified the printing of IMU debug mode

defines.h:
Made QUADCONFIG_X = 1 to fly in X-mode
Add another mode called QUAD_CLOSELOOP_RATES

GPS_IMU.pde:
Added support for 2 new messages:
IMUrates and IMUanglesANDrates
Printing errors on parsing
Add DEBUG_INFLIGHT messages

radio.pde:
Add DEBUG_INFLIGHT messages

servos.pde:
Change sign on applying roll_differential
Zero out the yaw/pitch_differential (temporary)
Add protection for throttle<MIN_SPIN_PWM
Ensure motors don't stop when throttle>MIN_SPIN_PWM
Add DEBUG_INFLIGHT messages

system.pde:
Add protection for starting up with throttle>1100
--This should help when starting up with no transmitter