Control.ROV.RemoteOperation: Fixed bad matrix index.
Disabling control loops onConnectionTimeout.
actuate() was being issued before the control loops got enabled.
Control.ROV.Depth: Positive heave implies positive thrust, not negative.
Adding maximum integral limits to depth controller.
Logging control parcels.
Control.ROV.Depth: Initializing PIDs onUpdateParameters().
Control.ROV.RemoteOperation: Limiting minimum depth to zero. Added debug messages.
Control.ROV.HorizontalPlane: Added integral limits to heading controller.
Moved PID initialization to onUpdateParameters().
Adamastor: Changed configuraiton according to changes in tasks' code.