The calculated combined ESC sensor data could potentially overflow in some extreme cases and the problem would be more likely in cases with more than 4 motors.
* PID controller unittest
* Clean code for yaw spin recovery
* Yaw spin recovery optimizations
* Flash size optimizations, use 50% throttle when airmode is off, and override pidsum_limit_yaw
Also rebasing from betaflight/master
Previously the gyro_overflow_detect and fallback slew filter were based on target definitions to determine whether the flight controller had an affected gyro to enable protection. The problem is that some targets are available with multiple gyro options and if one of those options was an affected gyro then all flight controllers for that target would have the oveflow code enabled even if they had a non-affected gyro. Also targets that include multiple gyros on-board and are selectable at runtime were not differentiated and forced overflow handling on even if the selected gyro was not affected.
For non-affected gyros the overflow handling code is not required and reduces recovery performance so it's not desirable to have it enabled when unnecessary.
In the case of dual-gyro targets if gyro_to_use = BOTH then if either is an affected gyro then overflow handling will be enabled.
* Added FAST_RAM_INITIALIZED for those who really want it
* Added the white crow of KISSFCV2F7
* Made initialized data LMAs robust
* Fixed indirection when initializing fast memory
* Moved ART Prefetch enabling from library to main code
* Fixed tabs to spaces
* Added F7 LL EX header to simplify work with DMA and TIM
* Refactored F7 DSHOT using LL EX
* Got rid of overlooked duplicate lines
* * Fixing the #5705 (D-Term spikes)
- For D-Term calculation I reverted back to use dT instead of jittery deltaT
- Moved calculation of deltaT to handleItermRotation because it is the only place now where it is used
* * Changed the constant expression per DieHertz request
* * Changed the type of argument to match the type from caller
* * Redone also the handleItermRotation to dT per @ledvinap request
