Merge pull request #1 from mumes/master

update from upstream
bugfix in FMU_MuMROV.mix, pitch motion had a sign error

implemented and tuned controller for flight in horizontal plane with stabilizing control to move and keep ROV in plane
Merge branch 'master' of https://github.com/axelh/Firmware
Merge pull request #5 from axelh/master

mixer bugfix and controller integration