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

Conflicts:
	src/lib/mathlib/math/Matrix.hpp
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_status.h
	src/platforms/px4_includes.h

makefiles/toolchain_gnu-arm-eabi.mk

@@ -109,10 +109,10 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
 
 # enable precise stack overflow tracking
 # note - requires corresponding support in NuttX
@@ -228,7 +228,7 @@ DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
 define COMPILE
 	@$(ECHO) "CC:      $1"
 	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
+	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
 endef
 
 # Compile C++ source $1 to $2
@@ -237,7 +237,7 @@ endef
 define COMPILEXX
 	@$(ECHO) "CXX:     $1"
 	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
 endef
 
 # Assemble $1 into $2