Move defaulting of HAL_WITH_ESC_TELEM for periph

[peterbarker]

Board                    AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
CubeOrange-periph-heavy  *                                                       
Durandal                            *      *           *       *                 *      *      *
Hitec-Airspeed           *                                                       
KakuteH7-bdshot                     *      *           *       *                 *      *      *
MatekF405                           *      *           *       *                 *      *      *
MatekL431-RC             *                                                       
Pixhawk1-1M-bdshot                  *                  *       *                 *      *      *
f103-QiotekPeriph        *                                                       
f303-Universal           *                                                       
iomcu                                                                *           
revo-mini                           *      *           *       *                 *      *      *
skyviper-v2450                                         *