Merge remote-tracking branch 'upstream/master' into dev_ros

Conflicts:
	src/examples/subscriber/subscriber_params.c
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h
	src/modules/uORB/topics/vehicle_attitude_setpoint.h
	src/platforms/px4_middleware.h

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -1401,8 +1401,6 @@ FixedwingPositionControl::task_main()
 			continue;
 		}
 
-		perf_begin(_loop_perf);
-
 		/* check vehicle control mode for changes to publication state */
 		vehicle_control_mode_poll();
 
@@ -1421,6 +1419,7 @@ FixedwingPositionControl::task_main()
 
 		/* only run controller if position changed */
 		if (fds[1].revents & POLLIN) {
+			perf_begin(_loop_perf);
 
 			/* XXX Hack to get mavlink output going */
 			if (_mavlink_fd < 0) {
@@ -1475,10 +1474,9 @@ FixedwingPositionControl::task_main()
 				}
 
 			}
-
+			perf_end(_loop_perf);
 		}
 
-		perf_end(_loop_perf);
 	}
 
 	_task_running = false;

src/modules/fw_pos_control_l1/module.mk

@@ -45,3 +45,5 @@ SRCS		= fw_pos_control_l1_main.cpp \
 		  mtecs/mTecs_params.c
 
 MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION	 = -Os