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.
Copter: shift pos targets to current location before takeoff
GPS: fix SIRF set-binary message

This fixes an issue in which the the update rate for the mediatek, which
uses a similar protocol, was not being set correctly
AP_NavEKF: simplify variable handling in EKF

use named state variables instead of states[] array where possible.
AP_NavEKF: make it clear that all sat counts are covered
AP_AHRS : add method to report if EKF is waiting to start
AHRS: rename ekfNotStarted method to initialised

Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
Copter: only report ahrs unhealthy after initialisation
TradHeli: remove overall throttle level from landing check
AP_NavEKF : Fix bug in reset of GPS glitch offset

The GPS glitch offset was being zeroed during position resets. This caused the filter to reject subsequent GPS measurements if the GPS error persisted long enough to invoke a timeout and a position reset.
Copter: increase autotune limits

Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
Tri: _min_throttle interpreted as 0~1000 range for throttle_lower flag

limit.throttle_lower flag becomes true when the throttle passed into the
motors lib (which is in the 0 ~ 1000 range) is below _min throttle.
This makes the interpretation of the THR_MIN parameter consistent
between the main code (which uses 0 ~ 1000 range) and the motors lib
(which previously used the RC3_MIN ~ RC3_MAX range).
The remaining problem however is that the output of the motors continues
to use THR_MIN as if it were a pwm.  I don't believe this is a dangerous
problem however.
MotorsMatrix: _min_throttle interpreted as 0 ~ 1000 range for throttle_lower flag

Also trigger throttle_upper flag when throttle in reaches 1000
Copter: ReleaseNotes for AC3.2-rc11
Copter: version to AC3.2-rc11
Copter: cleanup enabling of cli and frsky telem for APM
Copter: disable sonar on APM1 and TradHeli on APM2
Copter: Rate Pitch IMAX default to 1000

Spotted by Jonathan Challinger, thanks!
INS: add gyro_calibrated_ok_all method

This returns true if the gyros have been calibrated successfully
Copter: pre-arm check that gyro cal succeeded