helicopter: add yaw sign parameter & expose settings in UI

src/modules/control_allocator/module.yaml

@@ -435,11 +435,13 @@ parameters:
                 short: Collective pitch curve at position ${i}
                 long: |
                   Defines the collective pitch at the interval position ${i} for a given thrust setpoint.
+
+                  Use negative values if the swash plate needs to move down to provide upwards thrust.
             type: float
             decimal: 3
             increment: 0.1
             num_instances: 5
-            min: 0
+            min: -1
             max: 1
             default: [0.05, 0.15, 0.25, 0.35, 0.45]
         CA_HELI_YAW_CP_S:
@@ -468,6 +470,13 @@ parameters:
           min: -2
           max: 2
           default: 0.0
+        CA_HELI_YAW_CCW:
+          description:
+            short: Change yaw direction
+            long: |
+              By default, positive thrust of the tail rotor is expected to rotate the vehicle clockwise. Set this parameter to true if the tail rotor provides thrust in the other direciton.
+          type: boolean
+          default: 0
 
         # Others
         CA_FAILURE_MODE:
@@ -916,3 +925,13 @@ mixer:
                             label: 'Angle'
                           - name: 'CA_SP0_ARM_L${i}'
                             label: 'Arm Length (relative)'
+                    parameters:
+                      - label: 'Yaw compensation scale based on collective pitch'
+                        name: CA_HELI_YAW_CP_S
+                      - label: 'Yaw compensation scale based on throttle'
+                        name: CA_HELI_YAW_TH_S
+                      - label: 'Yaw direction is CCW'
+                        name: CA_HELI_YAW_CCW
+                      - label: 'Throttle spoolup time'
+                        name: COM_SPOOLUP_TIME
+