Edited:

You use the group tacacs+ for your authentication, but you have not configured a server group for that. Here is a corrected configuration:

aaa authentication login default group HQTACACS local
aaa authentication enable default group HQTACACS enable
aaa authorization commands 0 default group HQTACACS if-authenticated
aaa authorization commands 15 default group HQTACACS if-authenticated

additional:

aaa group server tacacs+ HQTACACS
 server name HQTACACS

Update 2:

If connected via the console (not vty), you need this additional line:

aaa authorization console