Fixed the Loiter

Well I fixed the Loiter problem, the quadcopter will now hold position and altitude on command.  The changes were detailed in the previous blog post

1. Put in a new GPS.  
2. Improve power feed to the controller and receiver by using a UBEC (battery eliminator) instead of the power feed from the ESCs.  
3. Get rid of extra wires in the controller wiring harness.
4. Performed an indoor test flight and analyzed logs.  
5. Performed an outdoor test flight which was successful.

I also included a parameter change:

- changed INS_MPU6K_FILTER from 0 to 20 to filter out barometer fluctuations