Revert "Merge remote-tracking branch 'origin/master' into Tricopter-Fixes"

This reverts commit 6581385800a1c3bfb0a9ebd973fdab51dd2a6f36, reversing
changes made to f86ce5df0c6359d628f506c7f2c07bcd7ac6ea1d.

Removing accidental merge of the limits commit in with the stability bug fix...