...
Merge remote-tracking branch 'origin/master' into stabilize

Conflicts:
	src/controller/Controller.cpp
Merge branch 'master' into stabilize

Conflicts:
	src/controller/Controller.cpp
some cleaning...
start on preparing interpolator
get latest positions, predict new position
calculating thrust with assumed position
Modifying defines (maximum instead of stepsize)
Adding checks for MovementQuadruple
two switches in interpolator
Stabilizing: from startphase till thrustchange
Interpolator - restructure and commenting
this and that ... and CALC was right before
Interpolator - rotation now with sign
Interpolator - calculation of roll and pitch
Controller - some missing brackets...
Interpolator - half rp-values if closeToTarget
Controller - list of futureMovement ...
Interpolator - TODOs
removing duplicates