Rework flaps/spoilers logic

- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES]
- use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint
and spoilers_setpoint) to pass into control allocation
- remove flaps/spoiler related fields from attitude_setpoint topic
- CA: add possibility to map flaps/spoilers to any control surface
- move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER)
- move manual flaps/spoiler handling from rate to attitude controller

FW Position controller: change how negative switch readings are intepreted
for flaps/spoilers (considered negative as 0).

VTOL: Rework spoiler publishing in hover

- pushlish spoiler_setpoint.msg in the VTOL module if in hover
- also set spoilers to land configuration if in Descend mode

Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change

Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller
(which then only is applied in Auto flight), do it consistently over all flight
modes, so also for manual modes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

msg/ActuatorControls.msg

@@ -5,9 +5,6 @@ uint8 INDEX_ROLL = 0
 uint8 INDEX_PITCH = 1
 uint8 INDEX_YAW = 2
 uint8 INDEX_THROTTLE = 3
-uint8 INDEX_FLAPS = 4
-uint8 INDEX_SPOILERS = 5
-uint8 INDEX_AIRBRAKES = 6
 uint8 INDEX_GIMBAL_SHUTTER = 3
 uint8 INDEX_CAMERA_ZOOM = 4
 

msg/CMakeLists.txt

@@ -128,6 +128,7 @@ set(msg_files
 	MountOrientation.msg
 	ModeCompleted.msg
 	NavigatorMissionItem.msg
+	NormalizedUnsignedSetpoint.msg
 	NpfgStatus.msg
 	ObstacleDistance.msg
 	OffboardControlMode.msg

msg/ManualControlSetpoint.msg

@@ -26,7 +26,7 @@ float32 pitch    # move forward, negative pitch rotation, nose down
 float32 yaw      #               positive yaw rotation,   clockwise when seen top down
 float32 throttle # move up,      positive thrust,         -1 is minimum available 0% or -100% +1 is 100% thrust
 
-float32 flaps			 # flap position
+float32 flaps			 # position of flaps switch/knob/lever [-1, 1]
 
 float32 aux1
 float32 aux2

msg/NormalizedUnsignedSetpoint.msg

@@ -0,0 +1,5 @@
+uint64 timestamp        		# time since system start (microseconds)
+
+float32 normalized_setpoint          	# [0, 1]
+
+# TOPICS flaps_setpoint spoilers_setpoint

msg/VehicleAttitudeSetpoint.msg

@@ -17,14 +17,4 @@ bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)
 
 bool fw_control_yaw_wheel	# control heading with steering wheel (used for auto takeoff on runway)
 
-uint8 apply_flaps       	# flap config specifier
-uint8 FLAPS_OFF = 0     	# no flaps
-uint8 FLAPS_LAND = 1    	# landing config flaps
-uint8 FLAPS_TAKEOFF = 2 	# take-off config flaps
-
-uint8 apply_spoilers		# spoiler config specifier
-uint8 SPOILERS_OFF = 0     	# no spoilers
-uint8 SPOILERS_LAND = 1    	# landing config spoiler
-uint8 SPOILERS_DESCEND = 2 	# descend config spoiler
-
 # TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint