Updated UpdateHeading so that it uses floats to properly read the float angle coming out of the magnetometer for heading. Mangetometer.c was changed so that the accumulator is now 1 in order for averaging between 0 and 360 degrees to not be 180 degrees. It fixed all of the problems.
Implemented a new test harness which uses an interrupt driven protocol to handle the hand-off between the Micro and Reciever for control. ISR function is included as well as an Override_init which initializes the ISR.What you will see is the boat performing some set task by the micro which is driving forward and stopping. Then as soon as you turn on the remote control, it hands control over to the user. When you turn off the remote control, it returns control back to the micro.
Merge pull request #40 from ddeo/master

UpdateHeading function accounts for float headings. Magnetometer Accumulator changed from 50 to 1 so that avgerages between 0 and 360 degrees doesn't amount to 180 degrees.