mc_att_control: parameter processing refactor

- Remove unnecessary in between rate limits member vectors.
- Only switch the yaw rate limit in auto modes,
other values stay the same anyways.
- Fill gain vectors with parameters in one line.

src/modules/mc_att_control/AttitudeControl/AttitudeControl.hpp

@@ -77,6 +77,12 @@ public:
 	 */
 	void setRateLimit(const matrix::Vector3f &rate_limit) { _rate_limit = rate_limit; }
 
+	/**
+	 * Set hard limit for output rate setpoint around yaw axis
+	 * @param rate_limit_yaw [rad/s] limits for rotation around yaw axis
+	 */
+	void setRateLimitYaw(const float rate_limit_yaw) { _rate_limit(2) = rate_limit_yaw; }
+
 private:
 	matrix::Vector3f _proportional_gain;
 	matrix::Vector3f _rate_limit;