AntennaTracker: update to build with latest libraries

AntennaTracker has not been maintained as other parts of the system and
libraries have been modernised. This patch at least gets it to the stage where
it compiles and runs in SITL. Also added Tools/autotest/sim_antennatracker.sh
to run in SITL
AntennaTracker: sim_antennatracker.sh does make clean sitl