position_estimator_inav: better handling of lost GPS, minor fixes
Merge remote-tracking branch 'upstream/master' into pid_fixes

Conflicts:
	src/modules/sdlog2/sdlog2.c
Fixed numeration that was introduced through merge, I should add new log messages to the end
Fixed numeration that was introduced through merge, I should add new log messages to the end
Added integral reset for rate controller
Added integral reset for rate controller
Added functionality to enable PWM output for stupid ESCs even when safety is not off, arming button functionality remains as is
First try for an ESC calibration tool
Att rate PID fix
sdlog2: add angular accelerations to ATT message
Cleanup: remove useless angular rates from attitude rate controller
Critical bugfix in PID
Merge remote-tracking branch 'drton/pid_fixes_drton_debug' into new_state_machine

Conflicts:
	src/modules/multirotor_att_control/multirotor_att_control_main.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.h
	src/modules/sdlog2/sdlog2.c
multirotor_pos_control: bugs fixed
Adapted flow estimator, position and velocity control to new state machine
Conditions where set wrongly in the first 2s after boot
Added Flow messages to sdlog2
Only some small cleanup to att control
Don't interrupt a playing tune unless its a repeated one
Dropped superseded safety topic, added warning tones before arming