Re-wrote FlightModeConfig

Realized that I had configured my APM:Plane incorrectly since
FlightModeConfig was only set up to work with APM:Copter. Changed code
to respect mode switch channel parameter across all APM frame types.
Also a pile of other changes to make this code much more bullet proof
and correct. Implemented simple mode as well. Changed the style of the
code to be more data driven. This allows for adjusting for new param
values without needed to changing any code.