Plane: check both ground and airspeed in autocal test

when the airspeed ratio is far too low we were not raising it as the
airspeed was never getting above the minimum airspeed

Pair-Programmed-With: Jon Challinger
INS: check for good calibration for 10seconds

Shortened gyro calibration commit also halved the total time we would
look for a good gyro calibration.  This restores the total time to 10
seconds.
HAL_AVR: fixed build
AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters