[RotWing] FREE_STATE mode and pusher rate limiter (#3268)

* [rotwing_state] Added free configuration to be requested for rotwing drone

* [rot_wing_eff_sched] Added rate limiter on pusher prop

* [rot_wing_state] fix nav_max_goto_speed setting from state machine

* [rotwing_state] move rotwing free state processor to NAV if statement

* [rot_wing_state] Updated free state in rotwing_state

* [fp] Added free state standby waypoint to rotwing EHVB fp

* [rotwing_state] Removed non used speed_to_target variable

conf/flight_plans/tudelft/rotating_wing_EHVB.xml

@@ -90,10 +90,14 @@
         <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
         <stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
     </block>
-    <block name="Standby_fwd">
+    <block name="Standby_hybrid">
         <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
         <stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
     </block>
+    <block name="Standby_free">
+        <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_FREE)"/>
+        <stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
+    </block>
     <!-- <block name="Approach APP">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/>

conf/modules/eff_scheduling_rot_wing.xml

@@ -18,6 +18,13 @@
       <define name="HOVER_ROLL_PITCH_COEF" value="{0,0}" description=""/>
     </section>
   </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="eff_sched">
+        <dl_setting var="eff_sched_pusher_time" min="0.002" step="0.002" max="3." shortname="push_time"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
   <header>
     <file name="eff_scheduling_rot_wing.h"/>
   </header>