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

Conflicts:
	src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -13,3 +13,12 @@ ekf_att_pos_estimator start
 #
 fw_att_control start
 fw_pos_control_l1 start
+
+#
+# Start Land Detector
+#
+land_detector start fixedwing
+
+#
+# Misc apps
+#

ROMFS/px4fmu_common/init.d/rc.logging

@@ -8,7 +8,7 @@ then
 	if ver hwcmp PX4FMU_V1
 	then
 		echo "Start sdlog2 at 50Hz"
-		sdlog2 start -r 50 -a -b 4 -t
+		sdlog2 start -r 40 -a -b 3 -t
 	else
 		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -a -b 22 -t

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -15,3 +15,8 @@ else
 	mc_att_control_m start
 fi
 mc_pos_control start
+
+#
+# Start Land Detector
+#
+land_detector start multicopter