remove unnecessary var, inline accsum_reset, lrintf , rename smallAngle
update header
correct lpf for d term
renormalize vect (is that required or the real cause of the gyro
headfree?)
format
Merge pull request #86 from treymarc/patch_speed

Remove unnecessary var, inline accsum_reset, lrintf , rename smallAngle
Cleaned up RX initialisation.  Updated Spektrum RX code to support 12
channels when using Spektrum 2048 - untested.  Renamed and extracted
core_t.numRCChannels to rxConfig.channelCount so that future commits can
clean up core_t further since core_t contains completely unrelated
properties.
build of latest binaries with spektrum 2048 8channel support.
Fix servo middle/channel forwarding variable re-use.  Adds a new
capability flag which is returned by MSP IDENT (CAP_CHANNEL_FORWARDING).
Adds two new MSP commands that are specifically for configuring channel
forwarding (MSP_CHANNEL_FORWARDING/MSP_SET_CHANNEL_FORWARDING).  Servo
'middle' and 'forward from channel' are now stored independently, as
they probably should always have been.
Merge remote-tracking branch 'multiwii/master' into project-structure-alternative

Conflicts:
	src/mw.h