Update turtle / crashflip mode (#13905)

* stop motors after 90 degrees of rotation and with max rate

* handle no accelerometer data

* improve check for acc, although seems to be OK without it

* disable all attenuation if rate is set to zero

* refactoring thanks Karate

* use sensors.h

* remove unnecessary arming check

* exit crashFlip immediately switch is reverted if throttle is zero

* add Crashflip Rate to OSD

* Revert unnecessary changes in crashflip core.c code

and clarify comments about crashflip switch

* update / minimise comments, thanks Karate

* ensure all names say `crashflip` consistently

* Undo quick re-arm because motrors were not reversed

* fix issue with reversed motors, we must disarm

* ignore yaw rotation and set gyro limit to 1900 deg/s

* default attenuation to off (crashflip_rate = 0)

* refactoring, increase rate limit to allow stronger inhibition

* enable in race_pro mode

* don't attenuate on attitude until a significant change occurs

* no attenuation for small changes

* Updates from review by PL

* remove whitespace

* refactor motorOutput, update comments, renaming variables

thanks PL

* changes from review PL

* only permit fast re-arm if crashflip rate set and crashflip was successful

* properly exit turtle mode

* add crashFlipSuccessful to unit test extern c

* small updates from review

* improved crashflip switch handling

* remove unnecessary motors normal check

src/test/unit/arming_prevention_unittest.cc

@@ -1161,5 +1161,6 @@ extern "C" {
     }
     void getRcDeflectionAbs(void) {}
     uint32_t getCpuPercentageLate(void) { return 0; }
-    bool isAltitudeLow(void) {return false ;};
+    bool crashFlipSuccessful(void) {return false; }
+    bool isAltitudeLow(void) {return false; }
 }

src/test/unit/ledstrip_unittest.cc

@@ -403,7 +403,7 @@ bool isArmingDisabled(void) { return false; }
 
 uint8_t getRssiPercent(void) { return 0; }
 
-bool isFlipOverAfterCrashActive(void) { return false; }
+bool isCrashFlipModeActive(void) { return false; }
 
 void ws2811LedStripEnable(void) { }
 

src/test/unit/link_quality_unittest.cc

@@ -494,7 +494,7 @@ extern "C" {
     bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return false;}
     bool cmsDisplayPortRegister(displayPort_t *) { return false; }
     uint16_t getCoreTemperatureCelsius(void) { return 0; }
-    bool isFlipOverAfterCrashActive(void) { return false; }
+    bool isCrashFlipModeActive(void) { return false; }
     float pidItermAccelerator(void) { return 1.0; }
     uint8_t getMotorCount(void){ return 4; }
     bool areMotorsRunning(void){ return true; }

src/test/unit/osd_unittest.cc

@@ -1396,7 +1396,7 @@ extern "C" {
 
     uint16_t getCoreTemperatureCelsius(void) { return simulationCoreTemperature; }
 
-    bool isFlipOverAfterCrashActive(void) { return false; }
+    bool isCrashFlipModeActive(void) { return false; }
 
     float pidItermAccelerator(void) { return 1.0; }
     uint8_t getMotorCount(void){ return 4; }

src/test/unit/vtx_unittest.cc

@@ -211,4 +211,6 @@ extern "C" {
     void sbufWriteU16(sbuf_t *, uint16_t) {}
     void sbufWriteU32(sbuf_t *, uint32_t) {}
     void schedulerSetNextStateTime(timeDelta_t) {}
+    bool crashFlipSuccessful(void) {return false; }
+
 }