merge john's change on quick take-off (main) to develop-fronts #243
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…e has started the takeoff action
…eoff service call height and the height of the core stack takeoff trajectory can be in one place
…th just the ascent sitl
…o the drone will wait for a state estimate before taking off, switched from mavproxy to mavlink-router, made mavros restart if it has the 'udp channel closed' error, added bag recording package from triage, added plotting
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