Plane: more fixes for glide slope calculations
Plane: more accurate altitude tracking close to waypoints

don't use a glide slope if the altitude change is less than 15 meters
Plane: added GLIDE_SLOPE_MIN parameter

this is used to prevent slow glide slopes being used for small
altitude changes in missions. This allows more accurate tracking of
altitude with terrain changes
Plane: change threshold for no glide slope to 20m

40m is quite high for most planes
Plane: remved int cast

not portable
Plane: use bitfields in auto_state
Plane: prevent cross-track on some WP types

when finishing a takeoff or when a user forces a WP change don't do
any cross-tracking. This avoids a problem where the plane tries to
line up with a track completely unrelated to the track currently being
flown
AC_Motors: make get_throttle_out const
AC_PosControl: smooth take-off with accel PID's I term

This avoids an instantaneous jump in throttle during take-off by loading
the accel PID's I term with the expected change in throttle level
Copter: minor formatting fix
AP_RangeFinder: Added a call to sonar.update in RFIND_test
AC_PosControl: remove 20cm on takeoff
Copter: Add takeoff enum for guided_mode
Copter: Handle MAV_CMD_NAV_TAKEOFF command to takeoff in guided mode only
Copter: Add guided_takeoff_start and guided_takeoff_run functions
Merge branch 'master' into transition