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
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.
Merge branch 'mathlib' of git://github.com/PX4/Firmware into sensor_hil_fixedwing