Moved reset into onUpdateParameters.
Using Math::General functions.
This commit fixes #2174.
Attitude will always dispatch desiredcontrol even during brake.
Allocator will attempt to stabilize roll and pitch while braking, with configurable margin.
Added brake margin parameter to configuration.
This commit fixes #2175.
Converting to radians only if parameters change.
If the motor is stopped, or the vehicle is braking or too close to the surface, collisions will be ignored.
This commit refs #2170.
Allocate the image buffer once (as per rasm's suggestion)
Added some debug messages
Fixed function documentation.
Removed debug printout.
Fixed typo