Fully working waypoint interface, thoroughly tested. Active waypoint setting has to be debugged in the simulator, but works fine on real hardware

Changed waypoint list file format (old files are not compatible anymore!), added file version check, now all waypoint entries should have an entry in the waypoint list file - although qgc does not use/read the orbit_direction and param1 fields. QGC writes the value of orbit into param1 and 0 to orbit_direction (this should and will be changed later!)

 Changed for a simpler way unit tests can be set up and run. Now tests can be simple classes which implement the tests