mc_autotune_attitude_control: add new MC_AT_EN parameter to enable

- only enabled by default on boards that aren't memory constrained

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -144,6 +144,8 @@ param set-default SENS_MAG_MODE 0
 
 param set-default IMU_GYRO_FFT_EN 1
 
+param set-default -s MC_AT_EN 1
+
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -73,7 +73,11 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
-mc_autotune_attitude_control start
+
+if param greater -s MC_AT_EN 0
+then
+	mc_autotune_attitude_control start
+fi
 
 #
 # Start Multicopter Position Controller.

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -24,7 +24,11 @@ mc_att_control start vtol
 flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
-mc_autotune_attitude_control start
+
+if param greater -s MC_AT_EN 0
+then
+	mc_autotune_attitude_control start
+fi
 
 fw_att_control start vtol
 fw_pos_control_l1 start vtol