Short summary of changes.  For a complete list see the git log.

2011-07-17
Updated module initialization from Mathieu which separates the initialization
from the task startup.  Also implements a method to reclaim unused ram from
initialization and end of memory for the FreeRTOS heap.

2011-07-12
Improvements to the stabilization code.  Included a LPF on the gyros to smooth
out noise in high vibration environments.  Also two new modes: axis-lock and
weak leveling.  Axis-lock will try and hold an axis at a fixed position and
reject any disturbances.  This is like heading-hold on a heli for the tail but
can be useful for other axes.  Weak leveling is rate mode with a weak
correction to self level the craft - good for easier rate mode flying.

2011-07-07
Dynamic hardware configuration from Stac.  The input type is now
selected from ManualControlSettings.InputMode and the aircraft must be rebooted
after changing this.  Also for CopterControl the HwSettings object must
indicate which modules are connected to which ports.  PPM currently not
working.