ctrl & param file: Update to match old dt configuration (with limited speeds)
Small fixes to stoeber code for correct initialization (pdo settings)
Add check for 'zero' state in esc.c
Make sure recover mode overrides all needed variables in el safety block

Also some changes to properly log to console when no slaves are found

Ghost terminals still need special attention, but most blocks don't
use them and use the same malloc + initialize pattern.

-Safety blocks have some names changed
-Setpoint generator is redesigned.
 +No longer 'unitless' with 'd' as derivative, but physics names (x, v, a, j)
 +Removal of 'mirrored' code.
 +improved tracking at high speeds
 +Addition of 'precision' parameters to limit numerical noise