First draft is now finished

new standard mpc mode is unlimited since the output is similar
but the computation times drastically decrease due to the missing
solver re-init.

Added tests and adapted vgf module to adhere to the scalings.
The computation times seem to benefit a lot from the scaled model state.

* Fix invalid guesses for the inputs (far too big amplitudes)
* Fix input guesses again (to fit Du criteria)
* Add support for pure planning in guess computation
* Add export of controller intermediate results