PositionControl: deconflict hover thrust estimator, acceleration control

- Avoid constantly adjusting the velocity gains with the HTE
- Make sure the hover thrust integral update doesn't break
  even though its unit is acceleration and not unit thrust anymore

We need to convert the velocity gains to not contain/depend on the
hover thrust. In horizontal direction it doesn't make sense to scale
them with the hover thrust and in vertical direction the adjustments are
already done in the acceleration to collective thrust conversion.

src/modules/mc_pos_control/PositionControl/PositionControl.hpp

@@ -163,11 +163,6 @@ public:
 	 */
 	void resetIntegral() { _vel_int.setZero(); }
 
-	/**
-	 * @return the value of the velocity integrator
-	 */
-	matrix::Vector3f getIntegral() const { return _vel_int; }
-
 	/**
 	 * Get the controllers output local position setpoint
 	 * These setpoints are the ones which were executed on including PID output and feed-forward.
@@ -205,7 +200,7 @@ private:
 	float _lim_thr_max{}; ///< Maximum collective thrust allowed as output [-1,0] e.g. -0.1
 	float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have
 
-	float _hover_thrust{}; ///< Thrust [0,1] with which the vehicle hovers not aacelerating down or up with level orientation
+	float _hover_thrust{}; ///< Thrust [0,1] with which the vehicle hovers not accelerating down or up with level orientation
 
 	// States
 	matrix::Vector3f _pos; /**< current position */