Copter: update_thr_cruise removed from control_stabilize
Copter: remove set_nav_mode
Copter: remove unused flags and variables
Copter: surface_tracking takes current_alt_target param
Copter: get angle_boost direct from pos_control
Copter: integrate surface_tracking to control_althold
Copter: crash check works with flip flight mode
Copter: remove unused defines
Copter: GCS_Mavlink gets gyro direct from imu
Copter: remove unused init from sport mode
Copter: comment fix
Copter: remove unused parameters
Copter: correct circle rate tuning to use circle_nav
AC_Circle: remove debug comment
Copter: move reset_optflow_I to control_ofloiter
Copter: remove reset_I_all

Each controller should reset the I terms as needed
Copter: add flight_mode.pde
Copter: move set_mode, to flight_mode.pde
AC_AttControlHeli: add comments
TradHeli: remove use of throttle_mode