slight refactoring of PPM/PWM failsafe to make it actually work and honor failsafeThreshold value.
rearranged startup / sensor detection for production testing. moved dead gyro endless loop out of the way.
personal debug changes

6 32 bit vars can be used for debug now
added option to disable setting motors to minthrottle

that way the copter still stabilizes it's self when throttle is at
minimum
Fixed Wing Navigation from PatrickE

cleaned up formatting a bit
added the new fw_nav.c file to the project