Changes

Add Q-alpha constraints to the optimizer

You should now be able to choose something like 20m/s and 5deg/s
pitchover and it'll pick up guidance way before MaxQ.

May throw errors going through MaxQ, kind of surprised that in my
tests that it didn't, it should still pick it back up again just
fine and they should be ignorable until they get fixed.

Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
 (commit: 8dee744)