Code motion: moving the once-per-second processing and MAVlink rx activities out of main() into their own functions. No change in functionality.
Moving some global vars into the functions that use them.
Moving more global variables into their respective functions.
Merged '4053ea51e0f908aa75954592ae25ff584425f1ca'
Resolved conflits in mavlink_udp.c mostly from code motion
Since we're using read(2)/write(2), open the uarts using open(2) instead of fopen+fileno.
Merge branch 'master' of hackerboat