revive the haskell

this was mostly messages - not everything is fixed pending fabi merging the ftdi branch
Merge branch 'master' of github.com:Fab7c4/cletus
rc axes are now floating in the message
finish updating haskell messages
whitespace
add eigen to docs
experimental GSL ODE
Print only when in DEBUG
Changed GPS format to seperate velocity and position for not loosing messages.
Cheange logger to use 20 MB