Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
Mark V19_VT_ROLLDIR @category system
Throttle down mavlink critical msg
Send 0 actuator_output for safety
VTOL: unset v1.9 roll direction safety check param for builtin airframes
Beat Küng