AP_ESC_Telem: fix timeout race #298
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add tests for timeout functions
The RPM telemetry data structure can get updated by another thread at any time. This can cause (now - last_update_us) to be negative, which looks like the data is nearly UINT32_MAX microseconds stale. To fix this, we copy the last_update_us value before we get the current time so it's guaranteed to be positive. We also minimize the number of places we explicitly check the timestamp and rely on the `data_valid` where possible to minimize the performance impact of this change.
The timeout for non-RPM telemetry is vulnerable to a similar race as the RPM. This change makes the timeout logic consistent between the two.
robertlong13
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Needs a brief flight test.