create new multicopter rate controller module (mc_rate_control) split out of mc_att_control

posix-configs/SITL/init/test/test_shutdown

@@ -27,6 +27,7 @@ ekf2 start
 vtol_att_control start
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 fw_pos_control_l1 start
 fw_att_control start
 airspeed_selector start
@@ -54,6 +55,7 @@ navigator status
 ekf2 status
 mc_pos_control status
 mc_att_control status
+mc_rate_control status
 fw_pos_control_l1 status
 fw_att_control status
 airspeed_selector status
@@ -64,6 +66,7 @@ uorb status
 echo "Stopping all modules"
 logger stop
 pwm_out_sim stop
+mc_rate_control stop
 mc_att_control stop
 fw_att_control stop
 mc_pos_control stop

posix-configs/bbblue/px4.config

@@ -22,10 +22,10 @@ param set SYS_AUTOSTART 4011
 # Note that the setting here applies to all PWM channels.
 # param set PWM_MIN 1120
 # param set PWM_MAX 1920
-# Not using DJI 430 LITE ESC anymore due to its hiccups: 
+# Not using DJI 430 LITE ESC anymore due to its hiccups:
 #    each random motor stop would cause a scary flip in the fly
 # Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
- 
+
 # Broadcast heartbeats on local network. This allows a ground control station
 # to automatically find the drone on the local network.
 param set MAV_BROADCAST 1
@@ -70,10 +70,11 @@ land_detector start multicopter
 
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 #fw_att_control start
 #fw_pos_control_l1 start
 
-mavlink start -n SoftAp -x -u 14556 -r 1000000 
+mavlink start -n SoftAp -x -u 14556 -r 1000000
 # -n name of wifi interface: SoftAp, wlan or your custom interface,
 # e.g., -n SoftAp . The default is wlan
 

posix-configs/bbblue/px4_fw.config

@@ -25,7 +25,7 @@ param set SYS_AUTOSTART 4011
 # Not using DJI 430 LITE ESC anymore due to its hiccups:
 #    each random motor stop would cause a scary flip in the fly
 # Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
- 
+
 # Broadcast heartbeats on local network. This allows a ground control station
 # to automatically find the drone on the local network.
 param set MAV_BROADCAST 1
@@ -36,7 +36,7 @@ param set MAV_TYPE 2
 # Three possible main power battery sources for BBBlue:
 # 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
 # 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
-# 3. other power source (e.g., LiPo battery more than 4S/18V). 
+# 3. other power source (e.g., LiPo battery more than 4S/18V).
 #    Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3.
 param set BAT_ADC_CHANNEL 	5
 
@@ -70,11 +70,12 @@ ekf2 start
 
 #mc_pos_control start
 #mc_att_control start
+#mc_rate_control start
 fw_att_control start
 fw_pos_control_l1 start
 
-mavlink start -n SoftAp -x -u 14556 -r 1000000 
-# -n name of wifi interface: SoftAp, wlan or your custom interface, 
+mavlink start -n SoftAp -x -u 14556 -r 1000000
+# -n name of wifi interface: SoftAp, wlan or your custom interface,
 # e.g., -n wlan . The default on BBBlue is SoftAp
 
 sleep 1

posix-configs/bebop/px4.config

@@ -51,6 +51,7 @@ navigator start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 sleep 1
 mavlink start -x -u 14556 -r 20000
 sleep 1

posix-configs/eagle/200qx/px4.config

@@ -33,6 +33,7 @@ ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 uart_esc start -D /dev/tty-2
 spektrum_rc start -d /dev/tty-1
 sleep 1

posix-configs/eagle/210qc/px4.config

@@ -33,6 +33,7 @@ ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 uart_esc start -D /dev/tty-2
 spektrum_rc start -d /dev/tty-1
 sleep 1

posix-configs/eagle/flight/px4.config

@@ -18,5 +18,6 @@ ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 snapdragon_pwm_out start
 spektrum_rc start

posix-configs/eagle/hil/px4.config

@@ -43,6 +43,7 @@ sensors start
 ekf2 start
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 land_detector start multicopter
 sleep 1
 pwm_out_sim start

posix-configs/eagle/init/rcS

@@ -197,6 +197,7 @@ qshell commander start
 qshell land_detector start multicopter
 qshell mc_pos_control start
 qshell mc_att_control start
+qshell mc_rate_control start
 
 logger start -b 200 -t
 

posix-configs/excelsior/px4.config

@@ -83,6 +83,7 @@ ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 uart_esc start -D /dev/tty-1
 spektrum_rc start -d /dev/tty-101
 sleep 1

posix-configs/ocpoc/px4.config

@@ -29,6 +29,7 @@ ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 
 mavlink start -x -d /dev/ttyPS1
 mavlink stream -d /dev/ttyPS1 -s HIGHRES_IMU -r 50

posix-configs/rpi/px4.config

@@ -31,6 +31,7 @@ ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 mavlink start -x -u 14556 -r 1000000
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50

posix-configs/rpi/px4_hil.config

@@ -20,6 +20,7 @@ ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 mavlink start -x -u 14577 -r 1000000
 navio_sysfs_rc_in start
 pwm_out_sim start

posix-configs/rpi/px4_no_shield.config

@@ -23,6 +23,7 @@ ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
+mc_rate_control start
 mavlink start -x -u 14556 -r 1000000
 sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50