Added resetting of Loiter location based on stick input. Fly it to a location and let it stick.

Added Octo Support
Fixed Loiter issue regarding Yaw towards loiter location
Added Yaw control alternative for testing
decreased Yaw deadband to +-5°
revved to 2.0.10



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2390 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/Attitude.pde

@@ -281,11 +281,14 @@ output_yaw_with_hold(boolean hold)
 	rate			= constrain(rate, -36000, 36000);									// limit to something fun!
 	int dampener 	= rate * g.pid_yaw.kD();											// 34377 * .175 = 6000
 
+	// re-define nav_yaw if we have stick input
+	if(g.rc_4.control_in != 0){
 		// set nav_yaw + or - the current location
 		nav_yaw 	= (long)g.rc_4.control_in + dcm.yaw_sensor;
 
 		// we need to wrap our value so we can be 0 to 360 (*100)
 		nav_yaw 	= wrap_360(nav_yaw);
+	}
 
 	// how far off is nav_yaw from our current yaw?
 	yaw_error 	= nav_yaw - dcm.yaw_sensor;