Add MOE Bit disable for Motor Outputs in Hardfault

[Gfcello]

Description

Add MOE (Main Output Enable) bit disable into hardfault handler for tim1 and tim3 that control motors.

https://uwarg-docs.atlassian.net/wiki/spaces/ZP/pages/2064286344/Hardfault+Shutdown

Testing

Requires test on hardware by initiating a hardfault while motors are enabled.

Documentation

https://uwarg-docs.atlassian.net/wiki/spaces/ZP/pages/2064286344/Hardfault+Shutdown

Merge Checklist:

• The changes have been well commented, particularly in hard-to-understand areas.
• The code has been tested on hardware, either by me or someone else.
• Comprehensive unit tests have been made for this change
• Corresponding changes to documentation have been created and links to this documentation are provided within the pull request.
• The changes generate no new warnings and compile and run; A screenshot of a successful compile message is attached to the bottom of this PR.

[antholuo]

As long as we get someone to test this before we fly (either by accident or on purpose), it's fine by me.

[upadhyaydhruv]

Great work! Now we need to find a way for you to test and simulate a hardfault. I'm requesting changes for now since we need to test system reset, but otherwise it looks good to test. Lets discuss hardfault triggering after the meeting today

[upadhyaydhruv]

great! Is there any way we can run a restart() function to reset the MCU possible? Would help us recover if its flying at a relatively high altitude. Try looking into nvic_systemreset() maybe.