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
Allow tone_alarm cmd to take filename as parameter

- Restore ability to play beloved William Tell Overture... from file
Merge pull request #370 from jean-m-cyr/master

Allow tone_alarm cmd to take filename as parameter
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