Autotune and filght with AC 5.1

A big thank you to all the Devs for the new release. 

I just took my 550 hex for its first flights after the upgrade, 2 to complete the autotune indoors with no wind and 2 regular outdoor flights in 12km/h winds. 

Alt hold and loiter were great, In loiter the copter was leaning about 35 degrees into the wind and held its position within  inches, very impressive. 

The only comment I would have is that it seemed to take about 10 minutes of hovering indoors to "learn" the ALT HOLD hover throttle value, now its stable and apears locked in. 

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