After boot the user is in manual mode and if he has an RC
but doesn't switch out the thrust gets set to the throttle stick
position. When he then starts a takeoff from tablet the thrust is still
high while arming and the land detector immediately sees a takeoff
skiping smooth takeoff from the position controller.

* VTOL trans: changed that now in transition for both MC and FW the corresponding (correct) attitude controller is running
* attitude setpoint for stabilized mode is generated by tailsitter.cpp
* reset yaw setpoint during transition to avoid big yaw errors after
transition back to hover
* VT_TYPE parameter: added "reboot required" metadata

Auto mode traj - limit yaw setpoint rate of change when generated in the flight task instead of clamping the yaw rate in the controller

Move yaw setpoint slew rate from AutoLineSmoothVel to Auto. The slew rate is now applied consistently to all the auto FlightTasks

using parameter_update.py script

Put adaption into a method because it needs to be called when
the control mode or the parameter changes.

- Remove unnecessary in between rate limits member vectors.
- Only switch the yaw rate limit in auto modes,
other values stay the same anyways.
- Fill gain vectors with parameters in one line.

to modularize and simplify unit testing

mc_att_control: replace math::min() and additional limit logic with math::constrain() calls (#11658)

Problem description at: http://discuss.px4.io/t/multicopter-lock-if-primary-gyro-fails/9685

This is a step towards isolating time from the system.

- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition

- Addressing review comments

- An new message is created just for the landing gear
- The old logic is repalaced by publishing this new topic

* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed

When switching back from rate to attitude control, the code depended on a
vehicle_control_mode topics update, but the publication frequency of that
is low. So the switch was noticeably delayed.

- better in terms of dependencies:
  - the position controller code depended on position topics for yaw
  - mc_pos_control does not have to be run for Stabilized mode
- the code path is much simpler, and thus less error prone. This is
  especially important since Stabilized is often used as a fail-safe flight
  mode.

use nullptr for instance to make sure we always get the first instance.

The rate controller is now run directly after a gyro publication, and
as soon as it publishes the actuator controls, the output driver (fmu/...)
runs.

Test on a Pixracer:
Reduces fmu control latency from 219us to 134us.
If we run the rate controller last (same order as before, just increase
the prio), the latency is 201us.

CPU load is unchanged.

The drawback is that the attitude to rate setpoint generation is delayed
by one cycle (4ms), but it will be reduced to 1ms as soon as we run at
1kHz.

This will allow to run the rate controller faster than the attitude
controller.

2ms is not enough to run at 1kHz

improves readability & reduces duplicated code

Signed-off-by: Roman <bapstroman@gmail.com>

It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.

Previously the rate controller disabled updating the integral below 20%
throttle. This is not ideal for several reasons:
- some racers already hover with 20% throttle.
- for acro it is important to always keep the integral enabled, it has a
  noticeable effect on flight performance.

Signed-off-by: Ivo Drescher <ivo.drescher@gmail.com>

Added more explanations regarding the coordinate transformation.

Signed-off-by: Ivo Drescher <ivo.drescher@gmail.com>

So that it can be customized better according to personal preferences.

The limitation of 16 chars did not allow to use a better param name.

The meaning of the yaw weight changed with #8003:
- before, the yaw weight decreased with increasing tilt angle error, so
  it was mostly 1
- now, it is constant and depends on the tuning gains (around 0.4 by default)

It means that #8003 reduced the feedforward term, and we get the closer
behavior as before with this change.
It also reduces coupling between different parameters.

In commit
eb67686b
the TPA scaled integral gain was reverted back to the
normal unscaled gain which rendered the I part of TPA
useless.