Merge branch 'master' into beta

Documentation/Doxyfile

@@ -599,7 +599,7 @@ RECURSIVE              = YES
 # excluded from the INPUT source files. This way you can easily exclude a
 # subdirectory from a directory tree whose root is specified with the INPUT tag.
 
-EXCLUDE                = ../src/modules/mathlib/CMSIS \
+EXCLUDE                = ../src/lib/mathlib/CMSIS \
 			 ../src/modules/attitude_estimator_ekf/codegen
 
 # The EXCLUDE_SYMLINKS tag can be used select whether or not files or

src/mainpage.dox

@@ -0,0 +1,9 @@
+/**
+\mainpage PX4 Autopilot Flight Control Stack and Middleware
+
+This software repository offers a middleware for micro aerial vehicles capable of running efficiently on a 168 MHz Cortex M4F processor and a state of the art flight control stack supporting multicopter and fixed wing aircraft. It can be easily used for experimental air (and ground) vehicles as well, as the application on a spherical blimp shows.
+
+http://pixhawk.org
+
+
+*/