Add ESC output limit and RPM limit alongside RC Throttle limit for multirotor racers

[hyperT4]

Current Behavior

I can put a 50% throttle limit, which will impact only the RC inputs. If i crash the multirotor, the PID controller could send a signal to the ESC that exceeds the 50% throttle limit i just set.

Desired Behavior

Betaflight's approach to this problem is pretty simple but clear with 2 options; ESC Output Limit and RPM limit based on DShot Telemetry (99% multirotor esc's have that) where with the ESC Output limit, the PID controller can NOT send a signal to the esc exceeding a set value. Where in the RPM limit, it will dynamically change the throttle behavior based on the RPM limit.

Suggested Solution

Check esc output signal, if it exceeds a set value (in Outputs tab maybe) then cut it accordingly. I don't really know how BF's implementation of RPM limit works, but it feels very linear and predictable throughout the whole voltage of the pack.

Who does this impact? Who is this for?

Mainly multirotor spec racers, Advanced multirotor users and there could be some very specialized use cases (differential wheel RPM on ground vehicles)

Additional context

I blew up my only BF fc i had left and had lots of unused INAV fc's 🙂
This is my first feature request😁