Cleaning up, changes in Controller.*

Changing defines, commenting, restructuring
Merge branch 'sibbo'
Merge branch 'master' of https://github.com/KITrokopter/Control-Application

Conflicts:
	CMakeLists.txt
Starting on convertMovement
Merge branch 'master' of https://github.com/KITrokopter/Control-Application
Merge branch 'sibbo'
Merge branch 'master' of https://github.com/KITrokopter/Control-Application