New navigation harness almost done.

Needs override to detect control goes back to the micro controller.
More improvements to Navigaton module.
Improved rudder controller to use velocity as a scalar for actuator effort. Also, if the boat flips around 180 degrees off of its desired point, it will continue to turn in a direction until it reaches the desired heading.
Fixed GPS course heading, and nav. test ready.
Merge pull request #46 from ddeo/master

updated rudder control to account for velocity. You can now tune the rudder controller in terms of velocity and proportional error.
Finished preliminary Atlas state machine diagrams.
Merge branch 'launch-attempt2'
Merged Darrel drive changes with new navigation.
Ready to tune drive for navigation test.
Scaled max motor effort and velocity down.
Fixed lake coordinates.
Fixed tilt compass offset calculations.
Merge branch 'master' of github.com:dagoodma/sdp
Merge branch 'master' into baro