when a user forces a waypoint jump, we may need to reset prev_WP to
prevent us thinking the waypoint is complete before we have started

the VCC pin number should not be converted

this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective

no functionality changes

Small Toy mode updates

simplified Yaw reset

Slower descent and slightly faster ascent

removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.

including a function that configures each Accel Axis
Defaults matching old behavior
Added param group

Simplified the inertial calcs for now

alt hold state reset

upped nav max to 32deg from 30
renamed calc_desired_speed to get_desired_speed
Added get_desired_climb_rate function to do smooth transitions in altitude
modified get_altitude_error to override the older altitude manager.

Better logging for Raw Inertial values

for rate altitude changes