Added commander support for rattitude mode. Still need to incorporate attitude/rate switching in multicopter control

src/modules/sensors/sensor_params.c

@@ -1969,6 +1969,15 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
  */
 PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
 
+/**
+ * Rattitude switch channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Switches
+ */
+PARAM_DEFINE_INT32(RC_MAP_RATT_SW, 0);
+
 /**
  * Posctl switch channel mapping.
  *
@@ -2132,6 +2141,23 @@ PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
  */
 PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
 
+/**
+ * Threshold for selecting rattitude mode
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_RATT_TH, 0.5f);
+
 /**
  * Threshold for selecting posctl mode
  *