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

Added to 3D view user switching between local and global coordinate system. Fixed bug in WaypointView: new instance used to assume frame is global.

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

UASWaypointManager now implements the protocol described in http://qgroundcontrol.org/waypoint_protocol