Copter: print frame type in log headers
Copter: landing detector checks baro climb rate

Barometer climb rate must be -150cm/s ~ +150cm/s
This threshold is generous because we already use the inertial
navigation climb rate so this is just to catch cases where inertial nav
is very incorrect in it's climbrate estimates
DataFlash: log baro climbrate
Merge branch 'ArduCopter-3.2' of https://github.com/diydrones/ardupilot into ArduCopter-3.2