Idiomacy pass

@andymoe, this pass was to convert ivar usage over to properties.

Please review, and also point only any places I might have missed.
@cnatoli can you roll back the AR.Drone changes in the IBAction methods in this file. I *think* dave has an active branch and has addressed this stuff already or it may even be in master by now. I think these changes will just cause conflicts to work out.