Long day. Improved user interface. Added throttle setting - TopicsExpress

Long day. Improved user interface. Added throttle setting routine. And...and this took some time... worked out a viable method of keeping a heading. Its a bit stubborn about acquiring a heading and is a bit shaky right now as Im not filtering the data. I spent a few hours reading the kalman filter stuff. Yikes. I also found good collision detection thresholds, and wrote self-zeroing code for the accelerometer readings so it works on inclines. The new navigation routine has been flow charted, but I had to work out following heading first.

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