GPS Rescue refactoring and landing improvements

- run Ublox GPS units at 10Hz
- Bugfix for level mode offset after a rescue (force gpsRescueAngle[] to zero while idle)
- Bugfix for entering landing mode too high, (ignore landing distance, enter landing mode only on height criteria)
- Remove landing distance.
- Default GPS mode to UBlox, not NMEA
- refactor idle tasks
- don't keep setting targetVelocityCmS to current velocity since it will be set to zero when rotating anyway
- remove unused velocityToHomeCmS
- remove unused max distance to home value
- log current altitude at 100hz in throttle_pid debug
- share the sanity timer code
- fix bug where yaw error should have been absolute
- remove unused code
- refactor rescue phases so intent values are not repeatedly set
- refactor the rescue modes
- fix bug that could fail to set velocity target on fly_home
- refactor to simplify pitch limits
- refactor to MAX and constrainf
- set 2m descent region to improve landing
- fade roll and pitch to zero at 2m from home

src/main/io/gps.c

@@ -276,7 +276,7 @@ gpsData_t gpsData;
 PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
 
 PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
-    .provider = GPS_NMEA,
+    .provider = GPS_UBLOX,
     .sbasMode = SBAS_NONE,
     .autoConfig = GPS_AUTOCONFIG_ON,
     .autoBaud = GPS_AUTOBAUD_OFF,
@@ -681,7 +681,7 @@ void gpsInitUblox(void)
                         }
                         break;
                     case 12:
-                        ubloxSetNavRate(0xC8, 1, 1); // set rate to 5Hz (measurement period: 200ms, navigation rate: 1 cycle)
+                        ubloxSetNavRate(0x64, 1, 1); // set rate to 10Hz (measurement period: 100ms, navigation rate: 1 cycle) (for 5Hz use 0xC8)
                         break;
                     case 13:
                         ubloxSetSbas();