Copter: use disparity threshold define for pre-arm checks

There are two duplicate checks, one in the pre-arm checks (i.e. checks
run every 15 seconds or so before the vehicle is armed) and one in the
arming checks (run immediately before arming).  The definition in the
pre-arm checks was still using the old hardcoded value.
Compass: always default devid to zero
Copter: allow passthru for ch 9 ~ 14

Based on work by Emile Castelnuovo
Plane: disable the CLI if AFS failsafe enabled on APM2

the flash space is a bit too low for both CLI and AFS
APM_OBC: added heartbeat() method

this is used for when the plane is calibrating sensors, to ensure
heartbeat is continued to the failsafe board
Plane: send heartbeat to AFS when calibrating sensors
Copter: update AC3.2-rc10 release notes
LogAnalyzer: Add IMU Mismatch check
Frame_params: 3DR_Iris+ reduced WP_NAV to 650
Copter: fix RSSI_RANGE param values

The extra .0 after the 5 was causing the mission planner to not display
5V in the dropdown even though the value was 5.
Copter: add AC3.2 default to LOG_BITMASK value
Copter: bugfix to condition-yaw for relative angles

Thanks to roque-canales for raising the issue and paradisephil for finding
the specific piece of code that went wrong and suggesting the fix.
Mission: fix CHANGE_ALT to store climb rate in lat param

The slightly confusing storage of climb rate in the lat field led to a
bug fix a few months ago that actually created a bug.
Copter: check target of set-mode request from GCS

Issue discovered and fix contributed by Deadolous
Copter: remove unused AIRFRAME definition
Copter: print frame type in log headers
Compass: param descriptions for OFS2, MOT2
INS: param descriptions for ACC2, GYR2
LogAnalyzer: add POSHOLD to TestPitchRollCoupling
AC_WPNav: add shift_wp_origin_to_current_pos for takeoff

This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.