Allow elevations over 90 degrees for LAT, prevent duplicate parking searches

[mmccrackan]

Branch to start enabling elevations > 90 degrees for the LAT. Also included a minor fix to prevent duplicate azimuths from being searched when finding gap parking.

I kept the elevations_under_90 parameter around just in case we need it in the near term, but we can remove it later if we want. Defaults to False.

[kmharrington]

We have some edits to make here. Right now if we run with these parameters:

corotator: Locked
elevations_under_90: False
apply_corotator_rotation: True

We end up commanding the co-rotator up at 80+ degrees which is 100% outside the available range. The issue is that right now we only have the "locked" / boresight=0 setup implemented for the co-rotator. When the elevations are above 90 degrees the intention from the reference plan is to run those in the boresight=180 mode.

I think we need additional logic around here:

scheduler/src/schedlib/policies/lat.py

Line 456 in 7bcad1c

if self.corotator_override is not None:

[mmccrackan]

Thank, will fix. Also, yet another sun-safety issue has appeared with this now that we've relaxed the sun-safety parameters. The sun-safety checker actually checks both the start and stop azimuth values and uses the most stringent one for the next move whereas the one inside scheduler does not and only uses the first value, thus giving new failures when elevations_under_90=False. Will also fix.

[mmccrackan]

I updated the corotator angle and boresight angle calculations here to accommodate boresight 180, though I'm not 100% sure the corotator angle sign is correct (I made both branches agree at 90 degrees). Also updated the sun-safety handling so it checks both the start and end of scans now, so I'll mark as ready for a re-review.