Merge remote-tracking branch 'px4/main' into pr-ekf2_external_vision_control_refactor

msg/ControlAllocatorStatus.msg

@@ -1,12 +1,10 @@
 uint64 timestamp                        # time since system start (microseconds)
 
 bool torque_setpoint_achieved           # Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
-float32[3] allocated_torque             # Torque allocated to actuators. Equal to `vehicle_torque_setpoint_s::xyz` if the setpoint was achieved.
 float32[3] unallocated_torque           # Unallocated torque. Equal to 0 if the setpoint was achieved.
                                         # Computed as: unallocated_torque = torque_setpoint - allocated_torque
 
 bool thrust_setpoint_achieved           # Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
-float32[3] allocated_thrust             # Thrust allocated to actuators. Equal to `vehicle_thrust_setpoint_s::xyz` if the setpoint was achieved.
 float32[3] unallocated_thrust           # Unallocated thrust. Equal to 0 if the setpoint was achieved.
                                         # Computed as: unallocated_thrust = thrust_setpoint - allocated_thrust
 

msg/VehicleAttitudeSetpoint.msg

@@ -13,7 +13,7 @@ float32[4] q_d			# Desired quaternion for quaternion control
 # 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_rate_integrals	# Reset roll/pitch/yaw integrals (navigation logic change)
+bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)
 
 bool fw_control_yaw		# control heading with rudder (used for auto takeoff on runway)
 

msg/VehicleLandDetected.msg

@@ -12,6 +12,7 @@ bool has_low_throttle
 
 bool vertical_movement
 bool horizontal_movement
+bool rotational_movement
 
 bool close_to_ground_or_skipped_check
 

msg/VehicleRatesSetpoint.msg

@@ -8,3 +8,5 @@ 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)