Merged mpc_rc with master

makefiles/toolchain_gnu-arm-eabi.mk

src/drivers/mkblctrl/mkblctrl.cpp

...es/attitude_estimator_ekf/attitude_estimator_ekf_params.c

src/modules/commander/commander.cpp

src/modules/commander/commander_tests/commander_tests.cpp

...s/commander/commander_tests/state_machine_helper_test.cpp

...les/commander/commander_tests/state_machine_helper_test.h

src/modules/commander/state_machine_helper.cpp

src/modules/commander/state_machine_helper.h

...odules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp

src/modules/sensors/sensors.cpp

src/modules/uORB/topics/vehicle_status.h

src/modules/unit_test/unit_test.cpp

src/modules/unit_test/unit_test.h

src/systemcmds/config/config.c