Enhancement/thruster allocator cleanup #172
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…ber in guidance, removed redundant linearization from asv_model, moved lqr control to state_cb in lqr_controller, fixed heading_ref in lqr
…nto test/easter_test
…nto test/easter_test
…nto test/easter_test
…nto test/easter_test
…nto test/easter_test
…r_allocator_cleanup' into enhancement/thruster_allocator_cleanup
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