Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.

Also improved documentation of AP_ControllerBlock.

Obstacle avoidance moved from AP_Guide to ControllerCar (works only for cars for now), algorithm changed
New feature Forward/Reverse in Controller Car
Misc bug fixes in ControllerCar

Just have to add prototypes now and #defines for debugging.

Still need to add arming/ disarming to rover/boat controllers.

ArduPlane/ ArduCopter should be easy to convert. The only thing
left for cmake is sketch processing, upstream dev is workign on this
at github, see arduino-cmake project.

Also updated cmake files.