There was a bug in position_estimator_mc. Solved
Topic has been changed for quaternion-based attitude controller.
Bug in so3 estimator related to R matrix
Comments on scaling factors
Merge branch 'master' of github.com:PX4/Firmware
Added test to test unlink()
Closing files that should be closed
More verbosity on RC check
Closing all opened file descriptors, fixed param save issue, tests clean
Merge pull request #370 from jean-m-cyr/master

Allow tone_alarm cmd to take filename as parameter
pid.c: fixed bad merge of seatbelt_multirotor, should fix EASY/AUTO modes
Merge pull request #367 from limhyon/master

Bug resolved & new data for setpoint topic.
Merge branch 'master' of github.com:PX4/Firmware into pid_fix
Hotfix: Chasing log buffer issue
Merge branch 'master' into pid_fix
pid.limit != 0 fix
Make sure the unit tests aren't included as part of the standard firmware
Merge pull request #372 from sjwilks/cleanup

Make sure the unit tests aren't included as part of the standard firmware binary
Merge branch 'pid_fix' of github.com:PX4/Firmware
Merge remote-tracking branch 'upstream/master'