PX4/Firmware — pull request #794 by LorenzMeier (2014-04-04 16:06:45+00:00)
Title: Move Pauls EKF into a class and instantiate only when / if needed. 

Checking for low memory conditions as we should. I'm piping this right now through HIL to ensure it behaves - this fix is pretty critical to free RAM on FMUv1.