Switch from SOFA to ERFA

Now at ERFA v1.1.0
Update PAL source to v0.5.0
Add support for routines added since previous Astro::PAL release

Adds support for palOap, palOapqk, palRefco, palRefcoq, palRefro,
palRefv, palRefz, palAop, palAoppa, palAoppat, palAopqk, palAtmdsp

Includes new test file ported from palTest.c