added takeoff logic for position controller to get the uav off the ground fast and transition smoothly to poctl after takeoff, added landing logic to reduce thrust to zero once on the ground

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -234,6 +234,24 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f);
  */
 PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
 
+/**
+ * Takeoff initial speed to jump off the ground
+ *
+ * @unit m/s
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_TKO_JMPSPD, 2.5f);
+
+/**
+ * Takeoff climb rate
+ *
+ * @unit m/s
+ * @min 0.0
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
+
 /**
  * Max manual roll
  *