AirModeYaw - Change airmode type from bool to int

src/modules/mc_att_control/mc_att_control_params.c

@@ -572,7 +572,11 @@ PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 30.f);
  * This function should be disabled during tuning as it will help the controller
  * to diverge if the closed-loop is unstable.
  *
- * @boolean
+ * 0 = Disabled, 1 = Roll/Pitch, 2 = Roll/Pitch/Yaw
+ *
+ * @min 0
+ * @max 2
+ * @decimal 0
  * @group Multicopter Attitude Control
  */
 PARAM_DEFINE_INT32(MC_AIRMODE, 0);

src/modules/px4iofirmware/protocol.h

@@ -234,11 +234,12 @@ enum {							/* DSM bind states */
 
 #define PX4IO_P_SETUP_MOTOR_SLEW_MAX		24 	/* max motor slew rate */
 
-#define PX4IO_P_SETUP_AIRMODE 			27 	/* air-mode */
-
 #define PX4IO_P_SETUP_THR_MDL_FAC 		25	/* factor for modelling static pwm output to thrust relationship */
 
 #define PX4IO_P_SETUP_THERMAL			26	/* thermal management */
+
+#define PX4IO_P_SETUP_AIRMODE 			27 	/* air-mode */
+
 #define PX4IO_THERMAL_IGNORE			UINT16_MAX
 #define PX4IO_THERMAL_OFF			0
 #define PX4IO_THERMAL_FULL			10000