Cahvor Model Mixin (#490)

* Adds cahvor model mixin to ALE

* Removed commented out lines and added doc strings

* Cleaned up Cahvor sensor and added tests for the mixin

* Removed leftover print

* Added more properties to cahvor model and removed properties moved to the concrete driver

* Addressed PR feedback

* Added tests and doc strings for cahvor mixing

* Added cahvor mixin to msl_driver

* Finished tests for msl driver

* Fixed failing tests

* Cached camera calculations from rotation matrix math

* Converted intermidiate rotation matrix elements to function calls

* Added function doc strings