personal debug changes

6 32 bit vars can be used for debug now
added option to disable setting motors to minthrottle

that way the copter still stabilizes it's self when throttle is at
minimum
old altitude calculation is used again

changed to the old altitude calculation, seems less error prone and more
stable.
also added some proper float to int conversions instead of autocasting
added lpf for acc integrator
set mma to 2G range for higher precision
new baseflight pid

full gyro scale is used now
and a new pid with float calculations was added