At at a period greater than the the max Oneshot pulse width
  Trigger all timer's channels in Oneshot mode to fire the
  oneshots with updated values.

   The fmu now support the commandline option to be run as a task
   or off a work queue.
   This reverts the board_config.h changes from commit
   e33af23122f5ee3030bb9745bbbf616b24c2a14a.

Conflicts:
	src/drivers/px4fmu/fmu.cpp

  The new optional option is
  fmu [task] ....

  fmu task mode_pwm - start fmu as a task
  fmu  mode_pwm     - start fmu as a worker

This reverts commit 30fe2aa4fb8c099028fd5ca4f50940e88eddbb08.

cleanup and remove unused (new) params

change fmu to task

increase fmu_servo task priority to max and enable true oneshot

use lowest FMU priority which minimizes jitter

constrain oneshot updates to control group 0 events

* Backport:stm32f7: stm32_allocateheap: allow use DTCM memory for heap

   Back port of upstrem contrib by Jussi Kivilinna <jussi.kivilinna@haltian.com>

   stm32f7: stm32_allocateheap: allow use DTCM memory for heap

   STM32F7 has up to 128KiB of DTCM memory that is currently left unused.

   This patch adds DTCM to main heap if CONFIG_STM32F7_DTCMEXCLUDE is not enabled.

* px4fmu-v5_default:Enable inclusion of the DTCM in the heap

  CONFIG_MM_REGIONS=3 adds the DTCM region to the heap.

depending on two altitudes that can get set as parameter
the logic linearly slows down from higher land altitude 1 to slower land altitude 2

mc_pos_control: reorder if statement

mc_pos_control:  add get function for cruising speed

mc_pos_control: move limit vel xy after velocity controller

to improve the smooth user experience while accelerating
but not have any delay when braking

mainly changing parameters to BlockParams, reorder them and comment

  Additional backport of c2c226be1db53dd0c1315e13bbd76ace6538eedf
  sem_holder:Clean up from Review

   Backport of upstream:

   7601a27cee348f70bebcac95e8e8372fe0651bbf David Sidrane Thu Mar 16 14:16:18 2017 -1000  sem_holder:The logic for the list version is unchanged
   3cc2a4f7c9bb495da6c59f373f8d0e7672e4ee13 David Sidrane Wed Mar 15 14:02:55 2017 -1000  sem_holder: Fixes improper restoration of base_priority
   caf8bac7fb9452f25a3297147e7b414d46e74c6f David Sidrane Mon Mar 13 22:54:13 2017 +0000  missing semi
   d66fd9f965f27eb0446d6aed24b8758674f98b53 David Sidrane Mon Mar 13 12:34:39 2017 -1000  semaphore:sem_boostholderprio prevent overrun of pend_reprios
   3c00651cfef3a0d90bb9e6522463965ad8989e6c David Sidrane Mon Mar 13 11:56:31 2017 -1000  semaphore:sem_holder sem_findholder missing inintalization of pholder
   4d760c5ea44c5f8d30a1a595800e9fbf4874e705 David Sidrane Mon Mar 13 10:46:26 2017 -1000  semaphore:sem_holder add DEBUGASSERTs
   modified 399f3067441941072664bdbfa1bfec8ff35aa449 Gregory Nutt  Sat Mar 11 08:57:34 2017 -0600  A few cosmetic changes (removed file that had nothing to do with semaphore commit by OA)
   60d8606b19a7e7c1285a0ef5e8addaaedf26b95f David Sidrane Fri Mar 10 06:38:17 2017 -1000  Priority Inversion fixes:Initalization
   6cc8f9100b3c8026e73ca738aaa5120bd78dae74 David Sidrane Fri Mar 10 06:37:46 2017 -1000  Priority Inversion fixes:typo
   360539afacc83132acdb83da8f20c468dbe4c63d Gregory Nutt  Fri Mar 10 09:30:15 2017 -0600  Priority inheritance:  When CONFIG_SEM_PREALLOCHOLDERS==0, there is only a single, hard-allocated holder structure.
                                                                                          This is problem because in sem_wait() the holder is released, but needs to remain in the holder container
   a93e46d00c1bc3447fb290b866ed21d8f9c8e146 Gregory Nutt  Fri Mar 10 08:54:50 2017 -0600  Cosmetic (missleading OA commit message) Using !pholder is now  pholder == NULL

   sem_holder: Fixes improper restoration of base_priority
   in the case of CONFIG_SEM_PREALLOCHOLDERS=0

   Original code did not take into accout that 2 holder are needed
   and failed silently when a slot could not be allocated

   The call to sem_restorebaseprio_task context switches in the
   sem_foreachholder(sem, sem_restoreholderprioB, stcb); call
   prior to releasing the holder. So the running task is left
   as a holder as is the started task. Leaving both slots filled
   Thus failing to perforem the boost/or restoration on the
   correct tcb.

   This PR fixes this by releasing the running task slot prior
   to reprioritization that can lead to the context switch.
   To faclitate this, the interface to sem_restorebaseprio
   needed to take the tcb from the holder prior to the
   holder being freed. In the failure case where sched_verifytcb
   fails it added the overhead of looking up the holder.

   There is also the additional thunking on the foreach to
   get from holer to holder->tcb.