Some timeout needed to be raised for now to make ubx with baudrate 9600 working again

BlinkM Driver with Systemstate

Attitude / position estimation and controller improvements

Home position

Added logging improvements for microSD

Feature ubx model configuration

I2C driver workaround for NuttX

Enable / disable logging while running, enabled black box logging (ringbuffer needed), enabled GPS KML logging (does not yet write outputs)

HOTFIX: disable interrupt-driven I2C mode, configure pessimistic I2C timeout, correct handling of the NAK generation for I2C master reads.

This looks like it addresses the recent I2C lockup issue, unfortunately it also increases CPU consumption by ~5% for the I2C sensor bus.

Ubx configuration working again, gps app is still complicated and big but should be wrking better now

ubx with 38400 working, all messages seem to arrive, configuration procedure is still funny (work in progress)

Windows build fix attempt