msg: introduce message versioning

msg/versioned/VehicleRatesSetpoint.msg

@@ -0,0 +1,14 @@
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp	# time since system start (microseconds)
+
+# body angular rates in FRD frame
+float32 roll		# [rad/s] roll rate setpoint
+float32 pitch		# [rad/s] pitch rate setpoint
+float32 yaw		# [rad/s] yaw rate setpoint
+
+# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
+# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
+float32[3] thrust_body	# Normalized thrust command in body NED frame [-1,1]
+
+bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)