Add StickTiltXY utility class to FLightTasks

to map stick input to vehicle tilt consistently and reliably across modes.

src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
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+ *
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+ * 2. Redistributions in binary form must reproduce the above copyright
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+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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+ ****************************************************************************/
+
+#include "StickTiltXY.hpp"
+
+#include <geo/geo.h>
+#include "Sticks.hpp"
+
+using namespace matrix;
+
+StickTiltXY::StickTiltXY(ModuleParams *parent) :
+	ModuleParams(parent)
+{}
+
+Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const float dt, const float yaw,
+		const float yaw_setpoint)
+{
+	Sticks::limitStickUnitLengthXY(stick_xy);
+	_man_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
+	stick_xy = _man_input_filter.update(stick_xy);
+	Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_setpoint);
+	return stick_xy * tanf(math::radians(_param_mpc_man_tilt_max.get())) * CONSTANTS_ONE_G;
+}