navigator: RTL: set loiter wp instead of normal waypoint in RTL_STATE_DESCEND
navigator: RTL: set normal waypoint instead of takeoff waypoint in RTL_STATE_CLIMB
Update drv_hrt.c

TIM3 was not working properly with a custom application and I got it work changing TIM3 HRT_TIMER_POWER_BIT from RCC_APB2ENR_TIM3EN to RCC_APB1ENR_TIM3EN because on datasheet TIM3 is on APB1, I think that you should check also the others
Added rc_map_failsafe to enable use of channels other than throttle for failsafe.
Merge branch 'rc_timeout' of https://github.com/TickTock-/Firmware into rc_merged
renamed mission_switch to loiter_switch and assisted_switch to easy_switch
Added RC_MAP_FAILSAFE parameter for customizing failsafe channel.  Default to THROTTLE
Added ASSISTED, AUTO, EASY, RETURN, & LOITER programmable thresholds to enable various user mode switch configs (orig., 2x3, 1x6, etc).
Made failsafe more intuitive.  Default (0) maps to whatever channel is throttle.  If a non-zero value is entered, a direct channel map is used so use
Merge branch 'mpc_rc' of https://github.com/TickTock-/Firmware into rc_merged
updated flight modes diagram
Added switch priority flowchart
Merged in upstream master
compiles
renamed EASY to POSHOLD and SEATBELT to ALTHOLD
Replaces poshold/althold with posctrl/altctrl
Updated flight modes diagrams & comments.
shortened rc_assisted_th to rc_assist_th in case we add a dedicated switch mapping later
update diagrams
Revert mavlink library header back to original names