The Exigency Cydia tweak allows you to call contacts from the emergency-dialer within iOS. Meaning if you have a passcode enabled and you tap the emergency call button, you will have an option to call a contact.
This obviously has some security concerns because anyone can get access to your contacts, but if you can get past this Exigency is a tweak worth checking out.
It does indeed have a Settings panel, but the only thing present in there is a killswitch and links to the developers Twitter and donation page. Settings panels like these are annoying because they take up space in the Settings app, but to some I guess it may be convenient to be able to toggle the tweak ON or OFF without uninstalling the tweak.
Exigency is an extremely simple tweak and will not cost you a dime! It is available within the ModMyi repo for free. Be sure to check out the tweak and let us know what you think of it in the comments section below.