Merge branch 'master' into new_state_machine

compiling again
Conflicts:
	src/modules/fixedwing_att_control/fixedwing_att_control_att.c
	src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
	src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
	src/modules/mavlink/orb_listener.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/systemlib/pid/pid.c
	src/modules/systemlib/pid/pid.h
	src/modules/uORB/objects_common.cpp

src/examples/fixedwing_control/main.c

@@ -531,7 +531,7 @@ int ex_fixedwing_control_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn("ex_fixedwing_control",
+		deamon_task = task_spawn_cmd("ex_fixedwing_control",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 20,
 					 2048,

src/examples/flow_position_control/flow_position_control_params.c

@@ -40,14 +40,25 @@
 #include "flow_position_control_params.h"
 
 /* controller parameters */
+
+// Position control P gain
 PARAM_DEFINE_FLOAT(FPC_POS_P, 3.0f);
+// Position control D / damping gain
 PARAM_DEFINE_FLOAT(FPC_POS_D, 0.0f);
+// Altitude control P gain
 PARAM_DEFINE_FLOAT(FPC_H_P, 0.15f);
+// Altitude control I (integrator) gain
 PARAM_DEFINE_FLOAT(FPC_H_I, 0.00001f);
+// Altitude control D gain
 PARAM_DEFINE_FLOAT(FPC_H_D, 0.8f);
+// Altitude control rate limiter
 PARAM_DEFINE_FLOAT(FPC_H_RATE, 0.1f);
+// Altitude control minimum altitude
 PARAM_DEFINE_FLOAT(FPC_H_MIN, 0.5f);
+// Altitude control maximum altitude (higher than 1.5m is untested)
 PARAM_DEFINE_FLOAT(FPC_H_MAX, 1.5f);
+// Altitude control feed forward throttle - adjust to the
+// throttle position (0..1) where the copter hovers in manual flight
 PARAM_DEFINE_FLOAT(FPC_T_FFWD, 0.7f); // adjust this before flight
 PARAM_DEFINE_FLOAT(FPC_L_S_X, 1.2f);
 PARAM_DEFINE_FLOAT(FPC_L_S_Y, 1.2f);

src/examples/px4_daemon_app/px4_daemon_app.c

@@ -95,7 +95,7 @@ int px4_daemon_app_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		daemon_task = task_spawn("daemon",
+		daemon_task = task_spawn_cmd("daemon",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT,
 					 4096,