msgs: Clean up message definitions and descriptions

- Add versioning to interfacing messages
- Add header description
- Add units, frame and range wherever possible
- Add [norm] and @range indentifiers

msg/versioned/FixedWingLateralSetpoint.msg

@@ -0,0 +1,11 @@
+# Fixed Wing Lateral Setpoint message
+# Used by the fw_lateral_longitudinal_control module
+# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 course 				# [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
+float32 airspeed_direction    		# [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
+float32 lateral_acceleration 		# [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.

msg/versioned/FixedWingLongitudinalSetpoint.msg

@@ -0,0 +1,14 @@
+# Fixed Wing Longitudinal Setpoint message
+# Used by the fw_lateral_longitudinal_control module
+# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
+# If both altitude and height_rate are NAN, the controller maintains the current altitude.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 altitude  			# [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
+float32 height_rate 			# [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
+float32 equivalent_airspeed 		# [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
+float32 pitch_direct 			# [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
+float32 throttle_direct 		# [norm] [@range 0,1] NAN if not controlled, overrides total energy controller

msg/versioned/LateralControlConfiguration.msg

@@ -0,0 +1,8 @@
+# Fixed Wing Lateral Control Configuration message
+# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp          # time since system start (microseconds)
+
+float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY

msg/versioned/LongitudinalControlConfiguration.msg

@@ -0,0 +1,17 @@
+# Fixed Wing Longitudinal Control Configuration message
+# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
+# and configure the resultant setpoints.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 pitch_min   			# [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
+float32 pitch_max   			# [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
+float32 throttle_min 			# [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
+float32 throttle_max 			# [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
+float32 climb_rate_target 		# [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 sink_rate_target 		# [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 speed_weight 			# [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
+bool enforce_low_height_condition 	# [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
+bool disable_underspeed_protection 	# [boolean] if true, underspeed handling is disabled in the altitude controller