msgs: Clean up message definitions and descriptions

- Add versioning to interfacing messages
- Add header description
- Add units, frame and range wherever possible

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] [-pi, pi] Course over ground setpoint, w.r.t. North. NAN if not controlled directly.
+float32 airspeed_direction    		# [rad] [-pi, pi] Angle projected to ground of desired airspeed vector, w.r.t. North. NAN if not controlled directly, used as feedforward if course setpoint is 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

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+# Fixed Wing Longitudinal Setpoint message
+# Used by the fw_lateral_longitudinal_control module
+# If not both pitch_direct and throttle_direct are finite, then either altitude or height_rate must be finite.
+
+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] NAN if not controlled directly
+float32 equivalent_airspeed 		# [m/s] NAN if system default should be used
+float32 pitch_direct 			# [rad] [FRD] NAN if not controlled, overrides total energy controller
+float32 throttle_direct 		# [0,1] NAN if not controlled, overrides total energy controller

msg/versioned/LateralControlConfiguration.msg

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+# 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] maps 1:1 to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY

msg/versioned/LongitudinalControlConfiguration.msg

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+# 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]
+float32 pitch_max   			# [rad]
+float32 throttle_min 			# [0,1]
+float32 throttle_max 			# [0,1]
+float32 climb_rate_target 		# [m/s] target climbrate used to change altitude. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 sink_rate_target 		# [m/s] target sinkrate used to change altitude. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 speed_weight 			# [0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
+bool enforce_low_height_condition 	# if true, total energy controller will use lower altitude control time constant
+bool disable_underspeed_protection 	# if true, underspeed handling is disabled in the total energy controller

msg/versioned/Wind.msg

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+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+
+float32 windspeed_north		# Wind component in north / X direction (m/sec)
+float32 windspeed_east		# Wind component in east / Y direction (m/sec)
+
+float32 variance_north		# Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
+float32 variance_east		# Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
+
+float32 tas_innov 		# True airspeed innovation
+float32 tas_innov_var 		# True airspeed innovation variance
+
+float32 beta_innov 		# Sideslip measurement innovation
+float32 beta_innov_var 		# Sideslip measurement innovation variance
+
+# TOPICS wind estimator_wind