Tools: make Tools/scripts/*.py pass mypy checks

[khancyr]

correct python scrips in Tools/scrips with help from mypy.

Only Tools/scripts/firmware_version_decoder.py got explicity type annotation, but it already got some and is python3 only.

Only rcda_decode.py got real change, those allow python3 usage

This need https://github.com/ArduPilot/ardupilot/pull/20803

[peterbarker]

@khancyr needs a rebase - and updating according to review.