Use reporting from the motor mixer to only restrict integrator growth when it will result in increased saturation of the control axis concerned.
Enable absolute integrator limits to be set by parameter

This also adds a ZMR250 config.

* Helicopter aiframe and basic PID control

* codestyle

* Blade 130x gains working but not optimal

* Changed behaviour of feedforward for all multicopter

removed duplicate weathervaning limit

Instead of the state use the boolean flags.

This code is flyable, but a few problems exist which cause values in the .config files to be overwritten by the defaults in the .XML file.

multirotors shouldn't use tailsitter recovery code.

Still a WIP since the IDL file needs to be replace with the
muorb IDL file.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Added switching from attitude control generated rate setpoints to manual rate setpoints when in rattitude mode

Ifdefed out deadcode in position_estimator_inav_main.c as the
deadcode does not compile for qurt.

Added fixes to get a successful build for posix-arm and qurt targets.
Removed CLOCK_REALTIME def from px4_time.h for qurt and removed unused
variables in att_est_q and mc_att_control.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

The existing orb_advert_t use thoughout the code sometimes tries
to treat it as a file descriptor and there are checks for < 0
and ::close calls on orb_advert_t types which is an invalid use
of an object pointer, which is what orb_advert_t really is.

Initially I had changed the -1 initializations to 0 but it was
suggested that this should be nullptr. That was a good recommendation
but the definition of orb_advert_t had to change to void * because
you cannot initialize a uintptr_t as nullptr.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

The calls to orb_advertise were being mishandled throughout the code.
There were ::close() calls on memory pointers, there were checks
against < 0 when it is a pointer to a object and values larger than
0x7ffffffff are valid. Some places orb_advert_t variables were
being initialized as 0 other places as -1.

The orb_advert_t type was changed to uintptr_t so the pointer value
would not be wrapped as a negative number. This was causing a failure
on ARM.

Tests for < 0 were changed to == 0 since a null pointer is the valid
representation for error, or uninitialized.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>