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

src/utils.h

@@ -1,6 +1,7 @@
 #pragma once
 
 int constrain(int amt, int low, int high);
+float constrainf(float amt, float low, float high);
 // sensor orientation
 void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation);
 void initBoardAlignment(void);