Rework TPA to have per-component setup and use more stable and intuitive function

This also adds a ZMR250 config.

ROMFS/px4fmu_common/init.d/4002_qavr5

@@ -28,8 +28,8 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
-	param set MC_TPA_BREAK 0.7
-	param set MC_TPA_SLOPE 1.0
+	param set MC_TPA_BREAK_P 0.7
+	param set MC_TPA_RATE_P 0.3
 	param set PWM_MIN 1075
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -39,6 +39,6 @@ then
 	param set MPC_MANTHR_MIN 0.06
 	param set CBRK_IO_SAFETY 22027
 	param set ATT_BIAS_MAX 0.0
-	param set MC_TPA_BREAK 0.5
- 	param set MC_TPA_SLOPE 1.0
+	param set MC_TPA_BREAK_P 0.5
+	param set MC_TPA_RATE_P 0.5
 fi

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -39,8 +39,8 @@ then
 	param set MC_YAWRATE_MAX 400.0
 	param set MC_ACRO_R_MAX 360.0
 	param set MC_ACRO_P_MAX 360.0
-	param set MC_TPA_BREAK 0.5
-	param set MC_TPA_SLOPE 1.0
+	param set MC_TPA_BREAK_P 0.5
+	param set MC_TPA_RATE_P 0.5
 	
 
 	param set PWM_MIN 1075

ROMFS/px4fmu_common/init.d/4080_zmr250

@@ -0,0 +1,55 @@
+#!nsh
+#
+# @name ZMR250 Racer
+#
+# @type Quadrotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+#
+# @maintainer Anton Matosov <anton.matosov@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER zmr250
+set PWM_OUT 1234
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 2.0
+	param set MC_ROLLRATE_P 0.05
+	param set MC_ROLLRATE_I 0.2
+	param set MC_ROLLRATE_D	0.0015
+	param set MC_ROLL_TC 0.18
+
+	param set MC_PITCH_P 2.0
+	param set MC_PITCHRATE_P 0.05
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCH_TC 0.18
+
+	param set MC_YAW_P 1.0
+	param set MC_YAWRATE_P 0.15
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MC_ACRO_R_MAX 1080.0
+	param set MC_ACRO_P_MAX 1080.0
+	param set MC_ACRO_Y_MAX 1080.0
+
+	param set MC_TPA_BREAK_P 0.5
+	param set MC_TPA_BREAK_D 0.7
+	param set MC_TPA_RATE_P 0.5
+	param set MC_TPA_RATE_D 0.5
+	
+	param set PWM_MIN 1075
+	param set PWM_RATE 400
+	param set PWM_DISARMED 900
+	param set FAILSAFE 100
+
+	# param set NAV_RCL_ACT 6 # Lockdown
+
+	param set CBRK_IO_SAFETY 22027
+fi

ROMFS/px4fmu_common/mixers/zmr250.main.mix

@@ -0,0 +1,10 @@
+# R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
+R: 4x 7654 10000 10000 0
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000