[Libnifalcon-devel] Patches from this weekend integrated

[Kyle M. (qDot) <ky...@no...>]

I just checked in all the patches Stephen sent to the list this weekend. 
Thanks again!

A couple of small changes:

- Instead of changing one of the CMake files, I changed all of the GMTL 
math libs to use falcon/gmtl in their include paths. I don't think GMTL 
is all that widely used anyways (I didn't actually write the part of 
libnifalcon it uses, that was Kevin Ouellet's work, and he seems to have 
disappeared :) ), so keeping an internal version of the libraries 
shouldn't hurt too much. Feel free to speak up if you think this is a 
bad idea, I know it'd definitely be annoying to have this trying to 
include twice in places if people use it elsewhere.
- I added homing checks and loop timing output to the cube demo. The 
homing checks mean you won't get NAN issues from the kinematics if 
you've just loaded firmware and don't have a correct center, and the 
loop timing is both helpful to make sure you haven't locked up and to 
show the I/O rate.