Merge cleanflight fork of baseflight

I created a fork of baseflight in order to contribute to the overall quality of baseflight.  I understand that @trollcop does not currently want these changes as he's happy with the current state of the codebase, I however am not.  I've opened this pull-request and I'm hoping that in-time people will see the benefits of my fork and that it will be merged into baseflight.

I'm also hoping that other people will see this pull request and also learn about clean coding so that the overall standard of software development on baseflight, and other projects, improve even if this pull request is never merged.

You may wish to edit the README.md and the 'forkname' setting in the makefile after merging these commits.

I would love for people to comment on this pull request with your thoughts.