multirotor_att_control: use PID lib for yaw rate control
multirotor_att_control: style fixes, cleanup
initialize _vel_dot and _STEdotErrLast
Fix to cancel pending callbacks for closing ORB topics
Fixed typo, added testing - previous corner case now cleanly prevented
Merge pull request #509 from PX4/orb_fix

Orb fix
Matrix and Vector printing cleanup
Merge branch 'master' of github.com:PX4/Firmware
Hotfix for mag calibration
Hotfix: Check for out of range accel values
Smaller hotfixes for att pos estimator
Hotfix: forbid integrator to accumulate NaN values if they ever would occur
Hotfix: Fix integrator parameters
Integral fixes, last parts
Startup scripts: Corrected cases where commander was not started, updated several outdated scripts
Startup scripts: Start the commander early and let it try to open the mavlink_fd with 20Hz
Merge pull request #515 from julianoes/startup_fixes

Startup script update
remove commander from hil startup scripts
Merge pull request #517 from thomasgubler/hil_startupscripts

remove commander from hil startup scripts
Startup scripts: fixed stupid typo