Rename some activities for viewability
Rename the EtherCAT Thread.
- time based flight phase control for atc_eq_point
- bugfix atc_eq_point
- virtual constraint swing leg control for atc_eq_POINT
Merge branch 'master' into curLimitEst
Define some more constants.

I've a new (and more complicated) hypothesis for the current limiter algorithm. Code is untested.
Add current limit estimator as separate function.

Untested code. New hypothesis for current limiter algorithm.