The rate controller is now run directly after a gyro publication, and
as soon as it publishes the actuator controls, the output driver (fmu/...)
runs.

Test on a Pixracer:
Reduces fmu control latency from 219us to 134us.
If we run the rate controller last (same order as before, just increase
the prio), the latency is 201us.

CPU load is unchanged.

The drawback is that the attitude to rate setpoint generation is delayed
by one cycle (4ms), but it will be reduced to 1ms as soon as we run at
1kHz.

This will allow to run the rate controller faster than the attitude
controller.

2ms is not enough to run at 1kHz

improves readability & reduces duplicated code

This makes the compiler warn about invalid format strings.

Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
  (Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)

Due to limited flash space

This is the quickest way to achieve the desired result.
Long-term we might do something else.

To get it field-tested. This can be reverted for a release...

- mission logs are stored in a separate directory mission_log
- It's disabled by default
- Does not increase RAM usage if disabled (if enabled, only 300 bytes)
- Log rotate does not apply to the mission logs

Some message formats are longer than the 300 bytes. We can split the writes
because we have to wait until they are written anyway.

256 subscriptions are enough for now.
Reduces RAM usage by 300 bytes.

Not used yet, it should not affect anything, except for slight RAM
increase.

Previously the formats of all known uorb messages were written.

- reduces header size by about 13KB
- reduce ulog_message_format_s size to reduce required stack size.
  Largest message format is about 1000 bytes.

Previously the acceptance radius was 0, so the FlightTaskAutoLine was
randomly changing yaw and sometimes going into a random direction.
There is still something else wrong in there, but avoids the reposition
problem.