Review tag detection strategy

[CanineSatsuma6]

Let's double check the distance/detection range logic. We might be throwing out good measurements for close tags if there's a tag in view that's sufficiently far away. We may also want to check other aspects of the measurement, like ambiguity.

Originally posted by @CanineSatsuma6 in #11 (comment)

[SAKETH11111]

YALL gives us individual tag distances and ambiguity values, should we change from rejecting based on avgTagDist > 6m to accepting if the closest tag is within range, plus add an ambiguity check (like reject if max ambiguity > 0.7)?

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