vmount: add param to use RC input for angular rate

Until now RC input was translated to angles only. I added the param
MNT_RC_IN_MODE which allows the RC input to be used for angular rate.

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -145,9 +145,10 @@ param set-default MPC_Z_VEL_P 0.27
 
 # gimbal configuration
 param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 2
+param set-default MNT_MODE_OUT 1
 param set-default MNT_MAN_PITCH 1
-
+param set-default MNT_RC_IN_MODE 1
+param set-default MNT_RATE_PITCH 30
 
 # RC
 param set-default RC_CHAN_CNT       12

boards/atl/mantis-edu/src/board_config.h

@@ -61,6 +61,9 @@
 #define FLASH_BASED_PARAMS
 #define RAM_BASED_MISSIONS
 
+// Hacks for MAVLink RC button input
+#define ATL_MANTIS_RC_INPUT_HACKS
+
 /*
  * ADC channels
  *

src/modules/vmount/output_mavlink.cpp

@@ -66,6 +66,9 @@ int OutputMavlinkV1::update(const ControlData *control_data)
 		//got new command
 		_set_angle_setpoints(control_data);
 
+#if !defined(ALT_MANTIS_GIMBAL_HACKS)
+		// Don't send this command to ATL Mantis as it just spams the vehicle_command queue and the
+		// Mantis ignores it anyway.
 		vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE;
 		vehicle_command.timestamp = hrt_absolute_time();
 
@@ -89,6 +92,7 @@ int OutputMavlinkV1::update(const ControlData *control_data)
 		vehicle_command.param4 = _stabilize[2] ? 1.0f : 0.0f;
 
 		_vehicle_command_pub.publish(vehicle_command);
+#endif
 	}
 
 	_handle_position_update();

src/systemcmds/tune_control/tune_control.cpp

@@ -184,6 +184,7 @@ extern "C" __EXPORT int tune_control_main(int argc, char *argv[])
 
 			PX4_DEBUG("Publishing standard tune %d", tune_control.tune_id);
 			publish_tune_control(tune_control);
+
 		} else {
 			PX4_WARN("Missing argument");
 			usage();