Copter: cleanup enabling of cli and frsky telem for APM
Copter: disable sonar on APM1 and TradHeli on APM2
Copter: Rate Pitch IMAX default to 1000

Spotted by Jonathan Challinger, thanks!
INS: add gyro_calibrated_ok_all method

This returns true if the gyros have been calibrated successfully
Copter: pre-arm check that gyro cal succeeded
Copter: report gyro unhealthy if failed calibration
Copter: support pre-flight calibration of gyro
AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled

this prevents a floating point error caused by using an uninitialised
vector3 when switching between DCM and EKF control in AP_InertialNav

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled
Copter: AC3.2-rc12 release notes
Copter: version to AC3.2-rc12
Copter: auto-trim start delays auto-disarm by 15sec

Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy