assistedcontrol: uncrustify
assistedcontrol: code review comments

1. prevent Adjustments when low throttle less than vtol min. No user impact.
2. removed brake vertical thrust pid controller. Just use one as tuning is done on the hold.  Note thrust management used to be great...so need to test and compare...Jim please test...
3. move pathDesired parameters to ModeParameters - no impact to user setup.
4. make uncrustify_flight from code review
5. plans.c move magic values to defines - no user impact
6. move brakerate from flightmodesettings to vtolsettings - just a move of where to set brakerate.