fw pos control: better check for control mode
fw pos control: improve mode logic slightly
Merge remote-tracking branch 'upstream/master' into fwposcontrolmode
Merge remote-tracking branch 'upstream/master' into fwposcontrolmode
fw pos ctrl: takeoff special case only in takeoff
fix comment style and type
Merge pull request #1493 from PX4/fwposcontrolmode

Fw pos control: small mode cleanup
Move unittests into a more perceivable directory
Merge branch 'master' into bennodiscovery