feat: BlueROV2 Heavy updated control (attitude and position) and model (#25052)

* rft: clean merge to PX4

* fix: formatting

* fix: extra line

* fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle

* feat: updated gazebo models to include bluerov update

* fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build

* fix: added saturation to thrust and torque messages via param

* doc: updated parameters documentation for uuv

* fix: formatting

* feat: matching hardware reference

* fix: thrusters kg

* rft: removed commented lines

* fix: update gz reference given hw setup

* fix: hardware references

* fix: recommendations

* fix: updated settings to match hardware

* rft: check only for fixed and rotary wing for high throttle

Co-authored-by: Daniel Agar <daniel@agar.ca>

* fix: commit oupsie

* fix: format

* rft: remove is_uuv

* fix: hw parameters, uuv build target for v6x

* feat: added support for D-pad attitude changes in stabilized position control

* fix: position setpoint update and parametrized trajectory age and att change

* fix: format

* fix: removed duplicated call to check_validity_setpoint

* fix: setpoint update on arming logic

* fix: setpoint initialization for stabilized mode

---------

Co-authored-by: Daniel Agar <daniel@agar.ca>

src/modules/commander/Commander.cpp

@@ -574,7 +574,9 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 
 			if (!_vehicle_control_mode.flag_control_climb_rate_enabled &&
 			    !_failsafe_flags.manual_control_signal_lost && !_is_throttle_low
-			    && !is_ground_vehicle(_vehicle_status)) {
+			    && ((_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)
+				|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING))
+			   ) {
 
 				mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle\t");
 				events::send(events::ID("commander_arm_denied_throttle_high"), {events::Log::Critical, events::LogInternal::Info},