RF1 style TPA

[apocolipse]

Implemented RF1 style TPA Only available for F4's and larger

• 9 point TPA curves rather than breakpoint and cutoff, better control of whats attenuated, especially good for tuning mid throttle issues.
• Slightly lower latency due to being lookup table based and not calculating on the fly
• More memory used, 9 3 bytes per rate profile, 1024 32 * 3 bytes in memory for lookup

CLI Usage:

# rftpa help
Usage: rftpa [kp|ki|kd] 100=100=100=100=100=100=100=100=100

Printing out current curves

# rftpa
tpakp 100=100=95=95=95=95=95=100=100
tpaki 100=100=100=100=100=100=100=100=100
tpakd 100=95=90=85=85=85=85=100=100

Setting new curve:

# rftpa kp 100=90=85=85=80=85=85=90=100
New TPA Saved
tpakp 100=90=85=85=80=85=85=90=100
tpaki 100=100=100=100=100=100=100=100=100
tpakd 100=95=90=85=85=85=85=100=100