Add a "tilt prioritized" attitude controller. This is mostly useful when the controller is in underactuated mode where the lateral forces exceed the robot capabilities.
Update the wrench saturation algorithm by an optimization routine trying to maintain thrust direction, with more sensible behaviour than the previous bissection algorithm. This is enabled by default, but can be disabled or tuned with set_saturation_weights(). Log file is augmented with 'sat_fx', 'sat_fy', 'sat_fz', 'sat_tx', 'sat_ty', 'sat_tz' columuns indicating the scaling factor applied to each component (compared to non-saturated original thrust and torques).
Rename stop() to coast(), hopefully avoiding any further confusion about the semantics of this function.
Compute the min/max admissible torque given propellers limits, visible in get_geom_parameters().
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