frames: Implement more robust GetRotAngle() using Versa-Lemma approach
Revert "fix #1036: implemented more robust version of GetRotAngle, it uses a conversion to quaternions under the hood"

This reverts commit bbf6b6e44698bc82ebf3264c0bad949663046a89.
Merge remote-tracking branch 'snrkiwi/use-versalemma-for-getrotangle'