RC7 WD Thermal Control Patch

[zCoCo]

Code uploaded to WD during RC7 (only WD code was uploaded).

• Largely closes Fix Battery Thermistor Data & Heater Control #196 .
  • Heater controller now comes on at 85% duty (instead of 0).
  • Correct thermal readings are used in the correct places.
  • Added (potentially dangerous) ability to switch to using charging thermistor instead of battery thermistor for heater control if needed.
  • Debounced heater controller.
  • Validated heater control scheme.
  • Added and validated all (still used) thermistor and heater WD commands.
  • Corrected the thermistor telem sent from WD to Herc.
  • Added ability to override heater control and force heater to be on or off.
• Corrects thermistor conversions in GSW for WD (validated to be quite accurate at ~STP).
• Adds command aliases to GDS for changing heater control settings.
• Added thermistor failure detection to heater controller so, if heater breaks during flight LOS, heater will just kick on and stay on (but can be turned back off if desired).
• Added ResetSpecific ACK response packets that add more details about what happened (useful for verifying heater commands went through and not just some reset specific).
• Calibrated voltage ADC readings.
• ReportStatus prompts a DetailedStatus and FlightHeartbeat to be downlinked (since Batt_RT temp is only correct in the heartbeat - see known bugs).
• Updated DetailedStatusPacket prints in GDS to highlight relevant information and hide deprecated fields.
• Corrected WD heater on/off thresholds to be -5C and +5C respectively.
• Performed testing on FM1 to validate flight temperature conversions, thermistor connection, heater connection, and heater duty cycle control.

Known Bugs:

• Batt_RT readings are wrong in DetailedStatus packet (always 1) but correct in FlightHeartbeat.
• Heater settings are NOT persistent as of RC7.

RC7 will include diagram of how built heater controller works and docs of which commands and settings are still active and which are deprecated + commands needed for certain ops.