new Baseflight PID

full gyro scale is used now
and a new pid with float calculations was added based on PIDrewrite
eeprom size was also increased from 1kB to 2kB

Conflicts:

	src/config.c
	src/drivers/accgyro_l3g4200d.c
	src/drivers/accgyro_mpu3050.c
	src/drivers/accgyro_mpu6050.c
	src/flight_imu.c
	src/mw.c
	src/mw.h
	src/serial_cli.c
	src/serial_msp.c
	src/utils.c
	src/utils.h

src/common/maths.c

@@ -13,6 +13,16 @@ int constrain(int amt, int low, int high)
         return amt;
 }
 
+float constrainf(float amt, float low, float high)
+{
+    if (amt < low)
+        return low;
+    else if (amt > high)
+        return high;
+    else
+        return amt;
+}
+
 void devClear(stdev_t *dev)
 {
     dev->m_n = 0;