So transitions between stopped/not stopped respect the slew rate.
- Remove previous stopped motor handling in publish_actuator_controls
- Replace with handle_stopped_motors, called in Run() before slew
- Introduce ApplyNanToActuators in ControlAllocation to stop
- Refactor ice shedding slightly to fit new structure
the previously used std::this_thread::sleep_for is with respect to host
system time which is different from autopilot time if:
- speed factor != 1
- something runs slower than realtime regardless of speed factor
- debugging or otherwise interrupting PX4 control code
tester.sleep_for (which already existed) correctly sleeps w.r.t.
px4/simulation time.
Balduin