-created a test base class to centralize redundant methods among the different tests
-added mission waypoint list topic listener (this also helps make sure the simulation is ready)
-check number of mission waypoints in FCU against mission
-increase time for mavros topics to be ready from 30 to 60 seconds
-reduce position check loop rates
-clean up logging
-support QGC plan for mission file format, see #8619
-vehicle is an arg for mission test launch file, working toward other airframes
-Jenkins: fix vtol vehicle arg value
-get MAV_TYPE param and use FW radius for pure fixed-wing mission position check
-remove unused vehicle arg from test in multiple tests launch, clearing runtime warning

This brings in new ROI commands and general sync.

The calls have not been updated as the CI target has been.

This is temporary until there is a solution that works for adc and posix power modules

 - the SuperBlock already does this

The debug messages are too verbose to be run in a production vehicle and inherently were something that should only be run in SITL / debug sessions on hardware. Switching the flag to the PX4_DEBUG() macro does not only make this more explicit, but also saves a lot of flash space that otherwise was consumed by the strings.

This ensures that users do not accidentally enable this in an airborne system and saves flash space.

And also format file according to code style.

 - fixes #8585

This bound can be quite tight, because:
- The system still behaves well, even if all FD's are used (as opposed to
  a stack overflow)
- The amount of used FD's is typically only increased one at a time
  (e.g. adding new logged topics, adding a mavlink stream, ...)
- reducing CONFIG_NFILE_DESCRIPTORS to the minimum frees up a considerable
  amount of RAM on systems that need it

Makes sure that if CONFIG_NFILE_DESCRIPTORS == 0, no warning is printed.

It is important that tasks do not run out of them and this addition will provide a warning and log evidence if it goes wrong.

See https://github.com/mintty/mintty/wiki/Keycodes#editing-keys

with this commit, lines can be edited with the lef/right arrow key

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