Current Q-matrix, bugfix for lock loss

Added current version of Q-matrix for stationary target, rescaled for
the (assumed) camera resolution and FOV. Added rounding of x-y position
to correct values for q-lookup. Changed PHI_VSCL update frequency to .1
Hz, the value used in simulation. Attempted to address stallin main
MAVProxy process by adding a timer in the camera processing that will
automatically release the lock every 10 seconds if nothing is received
from main().