fixed attitude estimator params
Merge remote-tracking branch 'upstream/att_fix' into pid_fixes
Checkpoint: Quad is flying after PID lib changes

Conflicts:
	src/modules/multirotor_att_control/multirotor_attitude_control.c
Cherry-picked commit e2ff60b0a6dbcd714d57e781d9fe174b110a6237: use rateacc values
Merge remote-tracking branch 'upstream/master' into pid_fixes

Conflicts:
	src/modules/sdlog2/sdlog2.c
Fixed numeration that was introduced through merge, I should add new log messages to the end
Added integral reset for rate controller
Att rate PID fix
sdlog2: add angular accelerations to ATT message
Cleanup: remove useless angular rates from attitude rate controller
Critical bugfix in PID
Merge remote-tracking branch 'drton/pid_fixes_drton_debug' into new_state_machine

Conflicts:
	src/modules/multirotor_att_control/multirotor_att_control_main.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.h
	src/modules/sdlog2/sdlog2.c