TRY updating params instead of waiting on mutex

[Nibanovic]

In this PR we replace refresh_dynamic_parameters and get_params with the RT safe try_update_params().

Before:

We had watchdog breaks at 1000hz, for both controllers, seemingly at random times. This was indicating a mutex contention somewhere

After:

we're stasbilized back to ~100us for all update() cycles.

Note: If you want to inspect the *_params.hpp header for these functions, check the install/crisp_controller dir, it is auto-generated heade.