mc atune: add multicopter attitude auto-tuner module

msg/CMakeLists.txt

@@ -45,6 +45,7 @@ set(msg_files
 	airspeed.msg
 	airspeed_validated.msg
 	airspeed_wind.msg
+	autotune_attitude_control_status.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_status.msg

msg/autotune_attitude_control_status.msg

@@ -0,0 +1,35 @@
+uint64 timestamp                # time since system start (microseconds)
+
+float32[5] coeff                # coefficients of the identified discrete-time model
+float32[5] coeff_var            # coefficients' variance of the identified discrete-time model
+float32 fitness                 # fitness of the parameter estimate
+float32 innov
+float32 dt_model
+
+float32 kc
+float32 ki
+float32 kd
+float32 kff
+float32 att_p
+
+float32[3] rate_sp
+
+float32 u_filt
+float32 y_filt
+
+uint8 STATE_IDLE = 0
+uint8 STATE_INIT = 1
+uint8 STATE_ROLL = 2
+uint8 STATE_ROLL_PAUSE = 3
+uint8 STATE_PITCH = 4
+uint8 STATE_PITCH_PAUSE = 5
+uint8 STATE_YAW = 6
+uint8 STATE_YAW_PAUSE = 7
+uint8 STATE_VERIFICATION = 8
+uint8 STATE_APPLY = 9
+uint8 STATE_TEST = 10
+uint8 STATE_COMPLETE = 11
+uint8 STATE_FAIL = 12
+uint8 STATE_WAIT_FOR_DISARM = 13
+
+uint8 state