Update D_CUT to D_MIN, add setpoint

Directly and easily set the minimum value for D on pitch and roll.
- Boost back to the primary D setting is generated from gyro or setpoint inputs.
- Setpoint input is stick derived, faster by 10ms approx, and does not respond to propwash.
- Gyro input is motor derived and slower, but responds to propwash
- timing value sets balance between gyro (100) and setpoint (0) boost factors
- gain value sets overall sensitivity
- default D mins are 20 roll 22 pitch
- default D is 35, 38; if undefined then normal 30, 32 values
TUNING
- D value to flip overshoot control
- D_min to noise, lower values mean cooler motors but perhaps more propwash.
- Advance, higher values bring the boost in earlier, and stronger overall, useful for very high flip rates, but dampen stick responsiveness slightly.
- Gain value adjust against logs, checking maximal boost with flips and some rise with propwash, should be edging to get up from the min value in normal flight.

src/main/flight/pid.h

@@ -160,10 +160,11 @@ typedef struct pidProfile_s {
     uint8_t use_integrated_yaw;             // Selects whether the yaw pidsum should integrated
     uint8_t integrated_yaw_relax;           // Specifies how much integrated yaw should be reduced to offset the drag based yaw component
     uint8_t thrustLinearization;            // Compensation factor for pid linearization
-    uint8_t dterm_cut_percent;              // Amount to cut D by with no gyro activity, zero disables, 20 means cut 20%, 50 means cut 50%
-    uint8_t dterm_cut_gain;                 // Gain factor for amount of gyro activity required to remove the dterm cut
-    uint8_t dterm_cut_range_hz;             // Biquad to prevent high frequency gyro noise from removing the dterm cut
-    uint8_t dterm_cut_lowpass_hz;           // First order lowpass to delay and smooth dterm cut factor
+    uint8_t d_min_roll;                     // Minimum D value on roll axis
+    uint8_t d_min_pitch;                    // Minimum D value on pitch axis
+    uint8_t d_min_yaw;                      // Minimum D value on yaw axis
+    uint8_t d_min_gain;                     // Gain factor for amount of gyro / setpoint activity required to boost D
+    uint8_t d_min_advance;                  // Percentage multiplier for setpoint input to boost algorithm
     uint8_t motor_output_limit;             // Upper limit of the motor output (percent)
     int8_t auto_profile_cell_count;         // Cell count for this profile to be used with if auto PID profile switching is used
 } pidProfile_t;