Change Rate R/P P-term filter rate to 20Hz.  Suspect it was too slow, maybe not needed at all.
Add LPF lag filter to Rate Yaw FF.
Rearranging the motors_heli scalar calculations so they are done live when disarmed.
Revert "Change Rate R/P P-term filter rate to 20Hz.  Suspect it was too slow, maybe not needed at all."

This reverts commit c2559d415404fd8dd10b9d53638adfd91ef27898.

Conflicts:

	ArduCopter/heli.pde
Revert "Add LPF as a lag filter to the Rate R/P Prop Gain Output.  Not sure about this one."

This reverts commit 7231889c31a7a038b2e8b32bbb6d4a0dcd4ba447.

Conflicts:

	ArduCopter/heli.h
	ArduCopter/heli.pde