Copter: add inav vs baro arming check

In-flight Barometer sanity checking will be a more complete solution but
until then this should catch some bad pre-flight barometer behaviour
Copter: lean angle arming check
Param doc typo
Copter: motorsync cli test
Merge branch 'master' of https://github.com/diydrones/ardupilot into individual_motors_test
Takes into account if output is esc/motor or servo