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Simulator: virtual battery drain stops by default at 50% to avoid failing preflight checks to take off again
also added comments and removed throttle compensation because there is no real battery emulation with load drop

Battery: enhanced voltage, capacity estimate fusion, set empty voltage to a useful value for reasonable lipo usage

Battery: adapt output constraints to possible values, only calculate remaining capacity if capacity is configured

Battery: refactor _param out of the variable names and use 0.f for zero floats to make code more readable

Battery: simplify linear voltage relation, currently neglecting the real world voltage drop under load

it's a lot more readable and battery draining stops exactly at the empty battery voltage which makes debuging easier because it's directly predicatable

In rare circumstances, the buffer size was too small by 1 byte, leading
to a param export failure. And leading to a reset of all params!
This could only happen when the last saved param was a float.

Also the realloc_ok initialization is not needed.

It's used with real OS FD's.

Some modules call this (and maybe in rare circumstances), which could lead
to stack overflows. With our current headroom of >= 300bytes, 256 should
be ok.

This increases the export time from ~28ms to ~34ms in my case (on a
Pixracer)

- SYS_FMU_TASK is now enabled for PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5, but
  it's only set on autoconf
- v5 companion is now TELEM2 (same as all other boards)

useful in case the ekf replay topics are not enabled