multirotor_attitude_control performance improved, tested in flight. PID library new functionality and bugfixes.
Copyright fixes
Added global position to logging
Merge pull request #318 from PX4/global_pos_log

Added global position to logging
Merge pull request #314 from DrTon/att_control_der_fix

Multirotor attitude controller updated
Merge branch 'master' of github.com:PX4/Firmware into origin_integration