Mapping: fillLoc takes waypoints param, fix res bug
Mapping: fillLoc takes waypoints param, fix res bug

- the waypoints structure isn't in fillLoc's scope, so pass it in as a parameter
- map_grid_vars doesn't exist in mvars, so calculate them on the fly using res

IEEERobotics/high-level,IEEERobotics/high-level,IEEERobotics/high-level,IEEERobotics/high-level,IEEERobotics/high-level