In case of DCM renorm "blow-up" reset the drift correction integrators

This should aid in recovery if we loose the AHRS solution and have to force to initial orientation.  Also removed some old commented out code moved to the IMU object

libraries/AP_DCM/AP_DCM.cpp

@@ -125,14 +125,6 @@ AP_DCM::matrix_update(float _G_Dt)
 	Matrix3f	update_matrix;
 	Matrix3f	temp_matrix;
 
-	//Record when you saturate any of the gyros.
-	/*
-	if( (fabs(_gyro_vector.x) >= radians(300)) ||
-		(fabs(_gyro_vector.y) >= radians(300)) ||
-		(fabs(_gyro_vector.z) >= radians(300))){
-		gyro_sat_count++;
-	}*/
-
 	_omega_integ_corr 	= _gyro_vector 		+ _omega_I;		// Used for _centripetal correction (theoretically better than _omega)
 	_omega 				= _omega_integ_corr + _omega_P;		// Equation 16, adding proportional and integral correction terms
 
@@ -232,6 +224,9 @@ AP_DCM::normalize(void)
 		_dcm_matrix.c.x = 0.0f;
 		_dcm_matrix.c.y = 0.0f;
 		_dcm_matrix.c.z = 1.0f;
+		_omega_I.x = 0.0f;
+		_omega_I.y = 0.0f;
+		_omega_I.z = 0.0f;
 	}
 }