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Save the aircraft's initial calibration scalers and restore them in the case of a calibration failure; Add sanity checks for calibration scale factors to prevent making things worse in the face of a failure; Correct sign of the gyro_bias when resetting this value to its default; git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3148 ebee16cc-31ac-478f-84a7-5cbb03baadba