Previously, at minimum throttle, the quad would do absolutely no self-leveling

and simply run the motors at constant minthrottle.  This allowed the chance
for the quad to lose control during flight if the throttle was set to minimum,
say, to drop from a high altitude to a lower one.

With this edit, the quad will still self-level at minimum throttle when armed,
allowing for safe decents from altitude.  To prevent motors spinning when
arming/disarming, the yaw input is ignored if the throttle is at minimum and
we're using the sticks to arm/disarm.

Conflicts:
	src/main/flight/mixer.c

src/main/io/rc_controls.c

@@ -58,17 +58,20 @@
 static escAndServoConfig_t *escAndServoConfig;
 static pidProfile_t *pidProfile;
 
+// true if arming is done via the sticks (as opposed to a switch)
 static bool isUsingSticksToArm = true;
 
 int16_t rcCommand[4];           // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
 
 uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
 
-bool areUsingSticksToArm(void)
+
+bool isUsingSticksForArming(void)
 {
     return isUsingSticksToArm;
 }
 
+
 bool areSticksInApModePosition(uint16_t ap_mode)
 {
     return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;