Throttle related refactor/clean up #9287
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Minor refactor of throttle related code. Adds function to simplify setting throttle within idle/max constraints and also allows throttle Stop to be enabled if throttle set below idle.
HITL tested for fixed wing and flight tested on multirotor. Seems to behave as before including FW Launch. Failsafe landing throttle now works correctly on a fixed wing which it didn't previously if altitude was trusted, i.e. motor stops when set to 1000 rather than just idling.