GCS: get_integrator() is now get_gyro_drift() in DCM

ArduCopter/GCS_Mavlink.pde

@@ -127,7 +127,7 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
 #if HIL_MODE != HIL_MODE_ATTITUDE
 static void NOINLINE send_dcm(mavlink_channel_t chan)
 {
-    Vector3f omega_I = dcm.get_integrator();
+    Vector3f omega_I = dcm.get_gyro_drift();
     mavlink_msg_dcm_send(
         chan,
         omega_I.x,

ArduPlane/GCS_Mavlink.pde

@@ -488,7 +488,7 @@ static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
 
 static void NOINLINE send_dcm(mavlink_channel_t chan)
 {
-    Vector3f omega_I = dcm.get_integrator();
+    Vector3f omega_I = dcm.get_gyro_drift();
     mavlink_msg_dcm_send(
         chan,
         omega_I.x,

ArduPlane/Log.pde

@@ -245,9 +245,9 @@ static void Log_Write_Performance()
 	DataFlash.WriteByte(dcm.renorm_blowup_count);
 	DataFlash.WriteByte(gps_fix_count);
 	DataFlash.WriteInt((int)(dcm.get_health() * 1000));
-	DataFlash.WriteInt((int)(dcm.get_integrator().x * 1000));
+	DataFlash.WriteInt((int)(dcm.get_gyro_drift().x * 1000));
-	DataFlash.WriteInt((int)(dcm.get_integrator().y * 1000));
+	DataFlash.WriteInt((int)(dcm.get_gyro_drift().y * 1000));
-	DataFlash.WriteInt((int)(dcm.get_integrator().z * 1000));
+	DataFlash.WriteInt((int)(dcm.get_gyro_drift().z * 1000));
 	DataFlash.WriteInt(pmTest1);
 	DataFlash.WriteByte(END_BYTE);
 }