Copter: cleanup enabling of cli and frsky telem for APM
Copter: disable sonar on APM1 and TradHeli on APM2
Copter: Rate Pitch IMAX default to 1000

Spotted by Jonathan Challinger, thanks!
INS: add gyro_calibrated_ok_all method

This returns true if the gyros have been calibrated successfully
Copter: pre-arm check that gyro cal succeeded
Copter: report gyro unhealthy if failed calibration
Copter: support pre-flight calibration of gyro
AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled

this prevents a floating point error caused by using an uninitialised
vector3 when switching between DCM and EKF control in AP_InertialNav

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled
Copter: AC3.2-rc12 release notes
Copter: version to AC3.2-rc12
Copter: auto-trim start delays auto-disarm by 15sec

Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy
Copter: remove DRIFT and SPORT from manual_flight_mode function
AP_AHRS: fixed calls to DCM in parent class

use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().

This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.

The fix is to call the specific class versions of use_compass() and
reset()
AP_AHRS: restore DCM attitude before update()

The DCM drift correction code uses the current attitude to calculate
error values to update its gyro drift correction. If we were using EKF
then without this patch the DCM code running as an alternative AHRS
source would be using the EKF attitude for calculating the error
value, leading to very bad gyro drift estimation
AP_AHRS: use a common function for updating the CD values

this ensures the wrapping of yaw is consistent between the 3 use cases
Copter: add DCM_CHECK_THRESH parameter
Copter: add DCM check of yaw error

Triggers an "ekf" failsafe if the DCM yaw error is > 60deg
Copter: support logging while disarmed