Changing calculateMovement for moveUp function
Added MovementQuadruple class (thrust, r,p,g)
Implementing variante: set data for one or all QC
Finished sendMovementAll
Adding variable for calculateMovement-switch

Switch (between given defines CALCULATE_XXX) not implemented so far.
Progress on moveUp phase
Restructuring, work on stabilize and hold
calculateMovement calculateStart small fix
Merge branch 'build_formation_d'

Conflicts:
	src/controller/Controller.hpp