Plane: update comments on ALT_CTRL_ALG and NAV_CONTROLLER
build: added GIT_VERSION define to Makefile build
Plane: send firmware and git version in tlog
Rover: show git and firmware version in tlog
Copter: show git and firmware version in tlog
DataFlash: print FMT messages for wrapped logs

this ensures we have FMT messages in every log, even if the log was
wrapped and the FMT messages were overwritten
AP_InertialSensor: fixed semaphore error on startup for MPU6000
AP_L1_Control: fixed waypoint approach logic

this could cause the RTL approach to not break off onto the circle
correctly
L1_Control : Added hysteresis for rear WP capture