Added falling protection in motion, but at the moment it seems as thought it is ALWAYS falling. Need to address this.
Fixed minor error in fall detection message.
Remove unnecessary copy
Fixed merge conflicts.
Merge remote-tracking branch 'egoogins/master' into overhaul-jointenactor
Fixed synchronous/asynchronous issue.
Merge remote-tracking branch 'ellis/overhaul-jointenactor'
uncomment awesomeness