Removed "fudge factor" from dubins intermediate start offset
Added cleanup method to Wayset, other fixes.

Made constructor use our "append" method that checks for duplicates
Lowered SubFlightPlanner safety margin to 1.1
Fixed issue with planned timing not matching actual
Added discrete portion methods to Wayset, others

Fixed bugs with "safe" append and prepend
Removed C++11 option (for now)
Fixed Wayset::cleanup method
Issue in Hierarchical planner joining results together
Changes to A* intermediate

* Loop should continue (not break) on obstacle check
* Cost to move is now handled properly for diagonal moves
* kinematic margin of safety 1.02
FlightTaskAreaMapObject - unnecessary paint call
Change from MapGraphics

This update fixes a problem where having a PolygonObject on the screen
caused full CPU usage. The setFillColor was forcing a redraw on each
time step.
A* intermed has changeable granularity
SmartIntermediate has changeable A* granularity