Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
Replaces update_simple_mode with apply_simple_mode function that takes roll and pitch input arguments. The rotation is now done within the various get-pilot-desired-xxx methods removing the need for each flight mode to call update_simple_mode and also removing the slightly ugly call to overwrite RC_Channels' control inputs from the flight code (e.g. no more calls to set_control_in)
This makes us look like Rover and Plane in terms of namespacing for the
Mode classes, and removes a wart where we #include mode.h in the middle
of the Mode class.
This was done mechanically for the most part.
I've had to remove the convenience reference for ap as part of this.
bnsgeyer and rmackay9 contributed to these changes
make_safe_shut_down waits for spool down before disarming
remove use of attitude_control::set_throttle_out_unstabilized to consolidate logic between multicopters and tradhelis
These references were taken to make the breaking out of Modes in Copter.
A lot of other code has already caused these sorts of things to go away,
but these particular ones seem reasonable to fix by pointing the users
at the copter object directly.
Randy MackayandIampete1
Leonard Hall
Andy Piper
bnsgeyer
Peter Barker
Ebin
Andrew Tridgell