ArduCopter 3.2: Initial support

This gives support for waypoint tracking in AC 3.2 
Also included are experimental takeoff support. Experimental here means that the steps to trigger it are not ideal, but it only uses underlying functionality. Currently, to trigger takeoff:

Start copter in Guided. Arm. Neptus-> send wp. This will transmit a take-off mission. Switch copter to Auto, and raise throttle. 

The current issue is that the mission will be stored in memory. A subsequent mission, if armed in Auto, will simply start the old take-off procedure. In future updates, a state-machine for the mission-state of AC will be added, which also enables Dune to wipe the remote mission. This will enable us to arm in guided and do the takeoff from there, without the user having to switch to Auto. 

The "experimental" takeoff-support does not affect normal mission procedures in-air.