Moved math library to library dir, improved sensor-level HIL, cleaned up geo / conversion libs

ROMFS/px4fmu_common/init.d/rc.hil

@@ -8,7 +8,7 @@ echo "[HIL] starting.."
 uorb start
 
 # Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/console
+mavlink start -b 230400 -d /dev/ttyS1
 
 # Create a fake HIL /dev/pwm_output interface
 hil mode_pwm
@@ -38,13 +38,13 @@ commander start
 #
 # Check if we got an IO
 #
-if [ px4io start ]
+if px4io start
 then
 	echo "IO started"
 else
 	fmu mode_serial
 	echo "FMU started"
-end
+fi
 
 #
 # Start the sensors (depends on orb, px4io)
@@ -60,9 +60,7 @@ att_pos_estimator_ekf start
 # Load mixer and start controllers (depends on px4io)
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
-fixedwing_backside start
+fw_pos_control_l1 start
+fw_att_control start
 
 echo "[HIL] setup done, running"
-
-# Exit shell to make it available to MAVLink
-exit