rearranged startup / sensor detection for production testing. moved dead gyro endless loop out of the way.
make flipping the quad safe with althold engaged

this should stop the copter from accelerating downwards, when upside
down with althold enabled.
Merge pull request #101 from luggi/althold-flipable

make flipping the quad safe with althold engaged
format code properly
match the comment from pullrequest about spacing
remains : some hand alignment for comment and wrong /** */ usage.
Merge pull request #106 from treymarc/format2

format code properly
Merge remote-tracking branch 'upstream/master'