Triflight 0.7 Beta 3

Based on Triflight 0.7 Beta 2 (Betaflight v3.1.7)

New features

• Motor feedback based yaw control. This is a big change to the way the yaw output is controlled. The yaw output should now be more linear throughout the throttle range, verified in the test bench: https://www.youtube.com/watch?v=sXaltGzbMyA. The maximum yaw output is limited by the new CLI parameter tri_yaw_boost. The default value should be fine, but if you experience pitch forward during yaw, lower the value. If you would like to have more authority on yaw, increase the value. This feature was iterated and discussed in https://rcexplorer.se/forums/topic/new-type-of-yaw-control/.
• Arming prevention in case of invalid servo feedback value. Arming of the copter is prevented in case the servo feedback is configured but the value is outside of calibrated range. This might happen e.g. if the feedback cable breaks. If the feedback is lost while armed, the yaw boost (motor output control based on servo deflection) is disabled and the yaw output becomes sloppier.

Changes

• Default tri_motor_acc_yaw_correction set to 0. The new style yaw control handles the throttle cuts much better, increase this only if you experience yawing when throttle is cut.
• Maximum servo deflection to 40 degrees.
• Servo feedback support for DOGE target.