AC_AttitudeControl: first draft of library
AP_Vehicle: add multicopter parameters
Copter: move angle_max parameter to AP_Vehicle
Copter: integrate AC_AttitudeControl
Copter: remove debug for control_stabilize
Copter: correct auto_run
Copter: add acro_run skeleton
Copter: integrate replacement of timers with set_dt
Copter: bug fix for stabilize_run's yaw control
Copter: skeleton init call for all flight modes
INS: add support for 400hz for PX4
Copter: run main loop at 400hz for pixhawk
Copter: move thr control to control_stabilize
Copter: move control_stabilize yaw input higher
AC_AttControl: first draft of PosControl class
AC_PosControl: add throttle controller
Copter: early integration of AC_PosControl
Copter: update pos_control's hover throttle
Copter: skeleton AltHold flight mode
Copter: integrate AC_PosControl constructor changes