fmt removed fmt::make_args_checked since it's no longer needed for
constexpr format string checks.
fmt deprecated implicit conversions from enums to integers in format
arguments, so I added explicit static casts.
Most of these were unused, the IMU ones were just debug messages.
The only one that wasn't removed is in portable-file-dialogs.cpp since
the replacement looks less trivial.
The angular rate is treated somewhat like an angle during calibration,
but the datasheet says it's angular rate. The variables were renamed to
make this clearer.
