Launchdetection improvements

* Introduce state machine for launch detection with an intermediate state (controlsenabled) which
is meant to be interpreted by the controller as: "perform attitude
control but do not yet power up the motor".
* consequently now the state is returned instead of the binary (detected vs not detected)
* In the catapultlaunchmethod-detection the new state is used for a time delay between "controls enabled" and "motor enabled" (can be set via param). This allows for bungee launches where the aircraft controls attitude during the floating phase but does not yet power up the motor.
* in the fw pos control app: the new information is used to enable attitude control 

Depends on #1302

Tested in HIL
as far as I see it's actually correct. Lines 117-1128 are the arguments of the function call. Starting from line 1130 are new instructions.