MatrixPilot Multi: Added missing files for NMEA, modified libDCM/libDCM_defines.h in order to support NMEA. Added support for tricopter in virtual pose subproject (yaw ctrl not working yet), modified hack in servoOut.c to reduce only output4 frequency (tail servo in my tricopter), we shoul probably adjust it. THIS REVISION IS NOT FLIABLE WITH A TRICOPTER, this commit shouldn't affect the behavior of quad and hexa.
MatrixPilot Multi: Deeply changed the servo hack code, now every output can be specified in options_AeroQuad.h either "fast" or "slow" where fast is ESC_HZ and slow is ESC_HZ/(REDUCED_RATE_SKIPS+1). 
Bugfix: udb_set_dc() is now called from Timer3 interrupt (at ESC_HZ) instead from Timer1 (at HEARTBEAT_HZ)
Problem: command->yaw still does not work, and imu roll and pitch drift a lot (50deg in 10s)
MatrixPilot Multi: Restored options_AeroQuad.h, added options_Tricopter.h, added pwm update rates options in all options files.
MatrixPilot Multi: Added project MPMTricopter.X to debug tricopter problems without affecting virtual pose.
MatrixPilot Multi: Fixed yaw output problem, it flies!!!!
MatrixPilot Multi: Solved bug for Quad projects
branch MatrixPilot_mw4: fix a typo
MatrixPilotMulti: Mavlink fix: mavlink_output_40hz() was not called at 40hz but at HEARTBEAT_HZ, implemented a frequency divider.
MatrixPilotMulti Tricopter: updated motorCntrl files to keep up with VirtualPose project. Included small bugfixes (yaw servo output)
MatrixPilotMulti: Mavlink fix: Changed airframe type to quadcopter, corrected RC_CHANNEL stream rate (it was associated with a wrong one), added attitude rate, in order to unlink it from position rate. added attitude rate in mavlink_options.h as well.
MatrixPilotMulti Tricopter: 
motorCntrl.c: added udb_servo_pulsesat() to tail servo output, doubled yaw stick sensitivity, reduced clamping when "testing the motors" on the ground
options_Tricopter.h: good flying configuration
MatrixPilotMulti Tricopter: 
motorCntrl.c: added a new angle PD loop structure selectable by turning on #USE_NEW_ALGORITHM. It flies ok but it's much simpler to tune (no inner speed loop)