UAVCAN driver: support throttle linearization (THR_MLD_FAC parameter)

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/drivers/uavcan/uavcan_main.cpp

@@ -425,6 +425,12 @@ void UavcanNode::update_params()
 	if (param_handle != PARAM_INVALID) {
 		param_get(param_handle, &_airmode);
 	}
+
+	param_handle = param_find("THR_MDL_FAC");
+
+	if (param_handle != PARAM_INVALID) {
+		param_get(param_handle, &_thr_mdl_factor);
+	}
 }
 
 int UavcanNode::start_fw_server()
@@ -905,6 +911,7 @@ int UavcanNode::run()
 				// but this driver could well serve multiple groups.
 				unsigned num_outputs_max = 8;
 
+				_mixers->set_thrust_factor(_thr_mdl_factor);
 				_mixers->set_airmode(_airmode);
 
 				// Do mixing

src/drivers/uavcan/uavcan_main.hpp

@@ -211,6 +211,7 @@ private:
 	perf_counter_t			_perf_control_latency;
 
 	Mixer::Airmode 			_airmode = Mixer::Airmode::disabled;
+	float 					_thr_mdl_factor = 0.0f;
 
 	// index into _poll_fds for each _control_subs handle
 	uint8_t				_poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];