ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters (#13249)

* Conversions lib: add quaternion getter

* vehicle_status: add flag is_vtol_tailsitter

* ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters

src/modules/commander/Commander.cpp

@@ -1378,6 +1378,7 @@ Commander::run()
 	}
 
 	status.is_vtol = is_vtol(&status);
+	status.is_vtol_tailsitter = is_vtol_tailsitter(&status);
 
 	commander_boot_timestamp = hrt_absolute_time();
 
@@ -1498,6 +1499,7 @@ Commander::run()
 
 				/* set vehicle_status.is_vtol flag */
 				status.is_vtol = is_vtol(&status);
+				status.is_vtol_tailsitter = is_vtol_tailsitter(&status);
 
 				/* check and update system / component ID */
 				int32_t sys_id = 0;

src/modules/commander/commander_helper.cpp

@@ -110,6 +110,12 @@ bool is_vtol(const struct vehicle_status_s *current_status)
 		current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED5);
 }
 
+bool is_vtol_tailsitter(const struct vehicle_status_s *current_status)
+{
+	return (current_status->system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
+		current_status->system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
+}
+
 bool is_fixed_wing(const struct vehicle_status_s *current_status)
 {
 	return current_status->system_type == VEHICLE_TYPE_FIXED_WING;

src/modules/commander/commander_helper.h

@@ -53,6 +53,7 @@
 bool is_multirotor(const struct vehicle_status_s *current_status);
 bool is_rotary_wing(const struct vehicle_status_s *current_status);
 bool is_vtol(const struct vehicle_status_s *current_status);
+bool is_vtol_tailsitter(const struct vehicle_status_s *current_status);
 bool is_fixed_wing(const struct vehicle_status_s *current_status);
 bool is_ground_rover(const struct vehicle_status_s *current_status);