Merge branch 'master' of git://github.com/PX4/Firmware into fault_detection
Made threshold a bit nicer, still a magic number
Merge pull request #165 from julianoes/feature_ubx_model_configuration

Feature ubx model configuration
Merge pull request #167 from PX4/log_improvements

Added logging improvements for microSD
Merge pull request #169 from PX4/home_position

Home position
Merge pull request #171 from PX4/fault_detection

Attitude / position estimation and controller improvements
Merge pull request #151 from NosDE/master

BlinkM Driver with Systemstate
Merge branch 'master' of github.com:PX4/Firmware into sunday