Added CMSIS library.
Added math library.
Added math library to build.
Reformat of math library with astyle.
Added control library.
Added control library to build.
Integrate the interesting parts of the CMSIS 3.01 (r3p1) DSP library
Merge commit 'db3fabc3baccdeef3108544b4e9da9c8f0895a58' into local/mathlib
Merge commit '4f3b17f53b120cd54112097f4217a90863013c1f' into local/mathlib
Merge commit 'd9491b20cc5fc8b683eb0f60a50da6b322b55e57' into local/mathlib
Added kalman_demo. This is an attitude/position EKF example.
Move the math library pieces out of systemlib into mathlib
Merge commit '8888b73e160520e5b15e168998013f4a5f6e64c0' into local/mathlib
Merge James's controllib bits into a separate library module.

Add a top-level mathlib header to avoid having to dig around for specific headers.
Merge commit '23e8d0b4675e1101a5dd38fa48f96ec3c13ca68b' into local/mathlib

Fix the controllib test_params build.
Remove a spurious copy of CMSIS that snuck in.
Fix fallout from removing the spurious CMSIS
Merge branch 'master' of github.com:PX4/Firmware into mathlib
Remove more redundant CMSIS pieces from here.
Merge pull request #136 from PX4/mathlib

This is a merge of the math and control library pieces from https://github.com/jgoppert/Firmware.git