This fixes the issue where the console was spammed if a broadcast failed
after a connection had previously been established.

This fixes a bug with following setup:
- two (or N > 1) connected gyros
- ekf2 enabled
In this case, sensors would publish with the combined rate of the gyros,
but with N following messages having the same gyro data & timestamp.
Apparently ekf2 cannot handle this, the other estimators can.

We may want to rethink what the proper solution is here.

The MavlinkOrbSubscription only had an interface to either always copy
or copy based on a timestamp. This commit adds a copy interface if the
topic has been updated.

We don't want to drop messages if possible for mavlink log messages, so
let's use the orb queueing.

This is a try to simplify the if statements a bit. Also, a check of
new_arming_state which was impossible, is removed.

Signed-off-by: Roman <bapstr@ethz.ch>

since pure manual control for fixed wings in handled on the io side
the scale parameters for roll, pitch and yaw had to be introduced there
as well.

Signed-off-by: Roman <bapstr@ethz.ch>

for fixed wings

logging rate with these topics: ~50KB/s

The rates may need to be adjusted

It's ready to be used!

These will only start replay if there's an environment variable 'replay',
otherwise they do nothing.

We apply the parameters even before loading the modules, so that the
modules 'see' the same state as the recorded system had. We will have to
see how well this works in practice.

For replay with the new logger, we want a separate build dir so that the
parameters file and orb rules don't get mixed up.

* irlock: change output format to tangent of angles

* irlock: put all targets in single struct

* irlock: eliminate tanf function in constant