Copter: bug fix for simple_mode when run at 400hz

Mark radio frame as consumed so that simple mode does not apply the yaw
correction more than once when run at very high rates (like 400hz on
Pixhawk)
PX4: enabling mkblctrl for fmuv1/fmuv2

See the comments in mk/PX4/ROMFS/init.d/rc.APM for details
Plane: fixed previous_mode error in geofence 

when we were in MANUAL we would switch back to STABILIZE
AP_NavEKF : Add initial parameter defaults for Copter, Rover and Plane