Made failsafe more intuitive.  Default (0) maps to whatever channel is throttle.  If a non-zero value is entered, a direct channel map is used so use

Added ASSISTED, AUTO, EASY, RETURN, & LOITER programmable thresholds to enable various user mode switch configs (orig., 2x3, 1x6, etc).

pauls estimator: Added NaN guard before publishing

Blinkm fix

Hotfix to PX4IO uploader. There are no known mishaps due to it, but very...

fix mission topic bug, clearer naming

Fixed blinkm state indication (was not properly reporting flight mode).  Added flashing orange safety disarmed state indicator and solid blue failsafe indicator. Changed safety on state to solid cyan.  Increased LiPo cellcount support to 6.

Hotfix to PX4IO uploader. There are no known mishaps due to it, but very clearly the IO firmware flashing process should be verified after an upload.

startup: cleanup of cox mixer files (Thanks Rune)

Added a -w option to mavlink, added vicon messages to stream.

mavlink: Change to size optimization

mavlink: Updated protocol files

VICON logging, finally implemented.