Updated to: 3.1.0-RC1
Some of the format changes introduced were done to improve readabilty and
remove compiler warnings about needing parenthesis
Some code restructuring has been done to eliminate unused code and variables
Cleanup defined but unused functions
Implemented bed skew calibration by matching a precise physical model
to the measured data using the least squares method.
Rewrote handling of the command buffer to preserve memory
and allow pushing the commands to the front of the queue.