Enhanced Haptics, Refined Throttle/Cruise Control

[zjwhitehead]

• Revamped Haptic Feedback:

  • Buzzer: Now uses LEDC for precise tone control (deconflicts the PWM tone calls) and features updated/simplified melodies.
  • Vibration Motor: Implemented a dedicated FreeRTOS task and queue for non-blocking vibration, with haptic pulses added for critical actions like arm failure and cruise control engagement/disengagement/override.
  • Buzzer and vibration are now enabled by default.

• Improved Throttle & Cruise Control:

  • Cruise control activation is now possible in both ARMED and ARMED_CRUISING states.
  • Smoother transition out of cruise mode by pre-filling the potentiometer buffer to prevent throttle drops.
  • handleThrottle() logic in sp140.ino was refactored with new helper functions for better clarity and management of cruise and armed states.

• BLE Update:

  • Firmware version is now transmitted as a 2-byte array [major, minor] for easier client-side parsing.

• Task Management:

  • A new asynchronous task now manages vibration motor operations.

• Version Bump:

  • Version updated to 7.1.