Following up on #3231

Apply `constrain`, `NOMORE`, `NOLESS` and `CRITICAL_SECTION` macros
wherever possible.

Keep "astyled" reformatting

Apply `ENABLED` / `DISABLED` macros to files needing only a small
number of changes.

Just the minimal changes to qr_solve.cpp and .h to get rid of malloc() and free().

Saves about 656 bytes of progmem (library-code)
and 22 bytes for static variables.

Should use exactly the same amount of stack as it did before on the heap.

Changed leveling to compensation

Fixed compiler errors on Ubuntu using arduino-core

The code for the LSQ solver (qr_solve) is copyrighted by John Burkardt and released under LGPL here:
http://people.sc.fsu.edu/~%20jburkardt/c_src/qr_solve/qr_solve.html
(see qr_solve.cpp for further copyright information)