FlightTask: add 1st order lpf on yawrate satepoint for smooth motion

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -395,6 +395,18 @@ PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
  */
 PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f);
 
+/**
+ * Manual yaw rate input filter time constant
+ * Setting this parameter to 0 disables the filter
+ *
+ * @unit s
+ * @min 0.0
+ * @max 5.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);
+
 /**
  * Deadzone of sticks where position hold is enabled
  *