Link ids were being used interchangeably with the mavlink channel for
the link. Link ids handed out as a numerically increasing integer. Once
the counter went past MAVLINK_COMM_NUM_BUFFERS all hell would break
loose and cause memory corruption.

If it doesn’t exist it will be prefilled with all registered categories
set to false

The goal of this first installment is to organize the code a bit so it's more readable,
clean up a bit of left over cruft, and manage link configurations (and links in general).

This prevents mavlink signals from being emitted after link is
disconnected

Plus a large number of other changes to allow for orderly shutdown of
objects without crashes or asserts. This is need for unit tests to
create/delete global state around every test.

Centralize all connecting and disconnecting of links through
LinkManager::[Connect|Disconnect]Link api. Connect/Disconnect no longer
allowed through LinkInterface. This allows creation of new
LinkManager::setConnections[Suspended|Allowed] methods to disallow
connections as needed.

Handy for testing without a real board