preliminary new float pid
personal debug fix
added lpf for acc integrator
set mma to 2G range for higher precision
new pid controller

based on proper units (dps) not flight tested
new pid with float factors

increased eeürom size to 2kb and added config vars for the new pid
also got rid of dropping the last 2 gyro read bits
fixed config vars for the new pid

somehow string compare failed due to too similar variable names ?
added .hex for careful testing
Baseflight PID is now configurable via gui

made default rates a bit higher
levelP is for angle mode
levelI is for horizon mode