Initial implementation of Runaway Takeoff Prevention (anti-taz)

Detects runaway pidSum values on takeoff and auto-disarms to prevent the "Tasmanian Devil" caused by incorrect props, wrong motor order/direction, incorrect flight controller orientation, etc.  After a successful takeoff and normal flight is detected the feature is disabled for the remainder of the battery.

src/main/flight/pid.h

@@ -113,6 +113,11 @@ PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
 
 typedef struct pidConfig_s {
     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
+    uint8_t runaway_takeoff_prevention;          // off, on - enables pidsum runaway disarm logic
+    uint8_t runaway_takeoff_threshold;           // runaway pidsum trigger threshold
+    uint8_t runaway_takeoff_activate_delay;      // delay in ms where pidSum is above threshold before activation
+    uint16_t runaway_takeoff_deactivate_delay;   // delay in ms for "in-flight" conditions before deactivation (successful flight)
+    uint8_t runaway_takeoff_deactivate_throttle; // minimum throttle percent required during deactivation phase
 } pidConfig_t;
 
 PG_DECLARE(pidConfig_t, pidConfig);