Adventures with fast updates for guided mode (10Hz)

Yes, I have been meaning to get around to rewriting guided mode for years and finally got started on it for 4.1. Previous to 4.1 I would say you only had the most basic guided mode support. But I am very happy with 4.1 and have tested full accel / vel / pos input commands in a VICON style chamber and it works very nicely, and is fast!

4.1 adds almost full support for the guided position / velocity / acceleration commands with the only thing I should add is absolute raw input (but unless you are running at 100 Hz you will be able to do better with what we have now).

4.2 will have the same capabilities for the attitude commands and we will have the extra guided Mavlink messages added.

So the first step is getting 4.1 up and running.

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