- MPC_VEL_LP: new velocity first order low pass filter (off by default)
- MPC_VEL_NF_FRQ/MPC_VEL_NF_BW: new velocity notch filter (off by default)
- MPC_VELD_LP: existing velocity derivative low pass filter, but I've dropped the remaining controllib usage
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
- to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
- fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
- in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
- Delete left over identity matrix.
- Corner case with a zero element when using the signum function:
We always need a sign also for zero.
- Corner case with arbitrary yaw but and 180 degree roll or pitch:
Reduced attitude control calculation always rotates around roll
because there's no right choice when neglecting yaw. In that small
corner case it's better to just use full attitude contol and hence
rotate around the most efficient roll/pitch combination.
