Use reporting from the motor mixer to only restrict integrator growth when it will result in increased saturation of the control axis concerned.
Enable absolute integrator limits to be set by parameter

argv[1] was read even if argc < 2 -> segmentation fault when running without arguments
the return saves this

According to https://github.com/mavlink/mavlink/pull/629 the mavlink
command DO_SET_MODE should only determine the mode but not the
armed/disarmed state, so the MAV_MODE_FLAG_SAFETY_ARMED bit should be
ignored.
Instead the mavlink command COMPONENT_ARM_DISARM should be used instead.

Therefore, the commander now ignores the arm/disarm bit.

fix code style

note that FMU does not update AUX pwm outputs if no RC signal

clamp mixer output offset to [-.2,.2] ([-2000, 2000] in mixer file)

add 8 main PWM trim parameters

add long desc to parameters and bump minor parameter version

This also adds a ZMR250 config.

This fixes the following corner case:
1. Upload a mission.
2. Set mission mode.
3. Set loiter mode.
4. Arm.
At this point it will shoot up and go to the takeoff waypoint even
though we're not in mission but in loiter mode.

The fix makes sure that the triplet is reset to invalid (and idle) in
loiter mode if we're landed and disarmed.
It will lead to the vehcle sit in idle on the ground until you issue a
start mission (or takeoff) command.

- fix a bug where the wrong rotation order was used to compute the attitude
setpoint when using the pusher assist feature

Signed-off-by: Roman <bapstroman@gmail.com>

- fixed a bug where tilt compensation was done also when the horizontal
velocity was controlled. This is not needed because in this case
the controller outputs a 3D thrust vector.

Signed-off-by: Roman <bapstroman@gmail.com>