MASTER: ROS param & arg chngs ISO landing pt deconfliction move to task runner

ap_master/launch/master.launch

@@ -19,6 +19,7 @@
 
   <arg name="do_decon_land" default="1" /> <!-- Whether or not to attempt to deconflict landing points (and rally points) between aircraft -->
   <arg name="land_dis" default="2.0"/> <!-- distance between landing (and rally) points when deconflicting (in meters)-->
+  <arg name="land_dir" default="114.79"/> <!-- runway heading along which to place separated landing points -->
       
   <!-- Derived (conditional) arguments -->
   <arg name="gps_arg" default="--gps-time-hack" if="$(arg gps)" />
@@ -40,13 +41,7 @@
 
   <param name="do_deconflict_land" type="bool" value="$(arg do_decon_land)" />
   <param name='dis_between_land_points' type='double' value="$(arg land_dis)" />
-
-  <!-- the following two points define a line along a runway for deconfliction
-       of landing points for fixed wing platforms -->
-  <param name='runway_pt1_lat' type='double' value="35.7202619746" />
-  <param name='runway_pt1_lon' type='double' value="-120.7736565187" />
-  <param name='runway_pt2_lat' type='double' value="35.7161025280" />
-  <param name='runway_pt2_lon' type='double' value="-120.7625645593" />
+  <param name='land_point_lineup_dir' type='double' value="$(arg land_dir)" />
 
   <!-- Core Nodes -->