Minor fixes arising from the first practical class of Spring semester 2019. Mainly relating to loading of paramters on first run, and also the integrator of the default controller

Restricted Default Controller setpoint to be within the bounds. Fixed error in the safety check of the flying agent client.

Added message so that the default controller informs the flying agent client when a manoeuvre is complete

The test motors controller is now integrated to the flying agent client. The Default controller has the z integrator turned on, and the setpoint smoothing was slightly changed

Fixed abs() int casting causing errors for default controller state changes. Added integrator to default controller. Needs testing and adding buttons to GUI for run integrator and reset integrator.

Default controller compiles and is tested. Once remaining discrepancy is that the default controller switches into integrator mode too early

Finished implementing the Default controller (except for the integrator). Needs compiling and testing. (Also changed the ClientConfig.yaml to be FlyingAgentClientConfig.yaml)

Now compiles in ROS. Flying agent cleint seems to work well with the new structure. Default controller still needs implementing

Mostly finished with converting the Flying Agent Client to the Default controller. Needs comoiltion testing. Next step is to make the Default controller able to perform take-off and land manoeuvres

Started process of converting the Flying agent client from the safe controller to the default controller, and streamlining things at the same time. Currently compiles and flys, but needs cleaning up and proper implementing of the take-off and land functions.

Small changes to the picker controller for paramter loading, and to Flying agent GUI for units of the yaw error