TradHeli: Force recalc scalers after setting main loop time in MotorsHeli so that ramp scalers are right for 32-bit.
Parameters: Update Tune Comments with new options
TradHeli: Move two static bools into heli_flags structure to save 2 bytes RAM.
AC_AttitudeControl: Fixup some minor mistakes in AC_PosControl
build: added some debug
AP_AHRS: Fixed DCM get_gyro function

Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro.
AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro
AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF

this allows us to return a constant vector for the corrected gyro
estimate. Based on discussions with Jon Challinger
AC_AttitudeControl: Limit _pos_target.z to below alt_max before computing error
INS: calibrated method checks all accelerometers
build: fixed directory handling in build_binaries.sh
AP_Common: added fire cape product ID
AP_InertialSensor_MPU9150: I2C userspace driver sensor added.

The MPU9150 is a 9 axis sensor that includes 3 accelerometers,
3 gyroscopes and 3 magnetometers. All accessible through I2C.
The AP_InertialSensor_MPU9150 class allows APM to use this sensor.
AP_InertialSensor: updates for ERLE board type
HAL_Linux: updates for ERLE board type
build: added ERLE build type
L3G4200D: fix in the test example provided.

The test coded had a call to "wait_for_sample" that expected one
argument and 0 where provided.
AP_HAL_Linux: SPIDriver, add MPU6000 support
AP_HAL: Add SPIDevice_MPU9250 as a device.
AP_HAL_Linux: Add support for SPIDevice_MPU9250

The Invensense MPU9250 SPI device is connected to
SPI1, thereby SPIDriver class should return the
corresponding device.