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PBTS: support both PBTS and legacy BFT Time #2063

@glnro

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@glnro

In order to ensure backwards compatibility, PBTS should be enabled via consensus params.

In #2018 MedianTime was removed per the original work in tendermint/tendermint#7382. This does not consider that PBTS can be adopted in existing chains, with blocks produced and that need to be verified using the BFT Time algorithm.

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    enhancementNew feature or requestpbtstrackingA complex issue broken down into sub-problems

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