It's important that any reader of the file knows about the ongoing refactoring.

* add COM_TAKEOFF_ACT to optionally switch to mission after takeoff

We timed out earlier to allow users to abort, but now that we can cancel we do not need to enforce such a time limit.

Before the VTOL status would automatically force a commander state update all the time. This saves effort and makes sure the system only updates when it should.

We were running pre-arm checks before when not arming, which led to annoying error messages on vehicles that were on the bench or serviced on the ground. Now we really only run them when trying to arm.

This is necessary due to sensors that are so accurate that they have no offset at all.