pid max calibration

- todo: reckeck calculations
reenable imu readout & pid config
encoder & imu readout: change to csv output, fix buffer overflow

use snprintf
new ip
less printfs

too many printfs over jtag-uart will crash the fpga softcore!
Merge branch 'encoder_position_estimation_test' of github.com:froj/nastya into encoder_position_estimation_test