fixed some waypoint initialization problems (action and frame were not updated correctly in the waypoint list when read from the waypointplanner

corrected a compile warning in Wayppoint.cc, made adaptions to Freenect for the current revision of the code (update libfreenect repository!), commented out pixhawk poi mavlink code - needs fixing

Major refactoring of the waypoint code. The new design fits the model-view-controller pattern better.