[test] add math c files
[math] set default PAPARAZZI_SRC
[math] add float_quat_integrate_fi
[airborne] use math functions instead of macros

sed to the rescue:
find sw -path sw/airborne/math -prune -o -name "*.[ch]" -exec sed -i 's/\([ ]*[A-Z0-9_]*QUAT_OF[A-Z0-9_]*(\)\([a-zA-Z0-9_]*,[ ]*\)\([a-zA-Z0-9_]*)\)/\L\1\E\&\2\&\3/g' {} +
and another pattern:
's/\([ ]*[A-Z0-9_]*COMP[A-Z_]*(\)\([a-zA-Z0-9_]*,[ ]*\)\([a-zA-Z0-9_]*,[ ]*\)\([a-zA-Z0-9_]*)\)/\L\1\E\&\2\&\3\&\4/g'