for fixed wings

logging rate with these topics: ~50KB/s

The rates may need to be adjusted

It's ready to be used!

These will only start replay if there's an environment variable 'replay',
otherwise they do nothing.

We apply the parameters even before loading the modules, so that the
modules 'see' the same state as the recorded system had. We will have to
see how well this works in practice.

For replay with the new logger, we want a separate build dir so that the
parameters file and orb rules don't get mixed up.

* irlock: change output format to tangent of angles

* irlock: put all targets in single struct

* irlock: eliminate tanf function in constant

__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.

Instead of having to define it everywhere it is used, move the define to the
build system. Also update ecl and DriverFramework submodules to deal with the
changed definitions.

Streams ordered same way in all modes.

Fixed units to be microseconds and not milliseconds.