fw_att_control: move to px4::params

[dagar]

We need to carefully check the mix of degrees and radians, but otherwise this should be pretty straightforward.

[sfuhrer]

Looks good, especially this:

Also tested it in sitl and on a bench, no differences to master noticeable.

[sfuhrer]

How does this relate to the rest of the PR?

[dagar]

This change pushed the px4_fmu-v5_stackcheck build over the flash limit. NuttX stackcheck (https://nuttx.org/doku.php?id=wiki:howtos:run-time-stack-checking) instruments every single function call, so in this particular case my guess is it breaks the inlining in these param wrappers. https://github.com/PX4/Firmware/blob/34b03d56593815e16a29ba5dcef9b66208285c98/src/platforms/px4_param.h#L123

[dagar]

Looks good, especially this:

Next we can do this across fw_pos_ctrl_l1 and the entire vtol_att_control.

[dagar]

@PX4/testflights could you give this a test on a plane or vtol? For a plane test manual and stabilized on the ground to make sure recovery is possible (worst case).

[dannyfpv]

Tested on pixhawk 1 v3 Phantom Wing
Ground test on manual mode, no rc response. Tested on stabilized mode worked fine no issue. @dagar

[dagar]

Thanks @dannyfpv, I'm glad you caught it on the ground. There was an incorrect radian conversion on the manual scale factors (FW_MAN_R_SC, FW_MAN_P_SC). Should be fixed with the last push.

[dagar]

@PX4/testflights could you try again?

[dannyfpv]

Tested on fixed wing Pixhawk1 v3
Mission mode: no issues
Altitude mode: no issues
Rtl: no issue
Stabilize mode: no issue
logs:
https://review.px4.io/plot_app?log=37d7eeb1-034a-4c2e-b2bb-b96c1251f197
https://review.px4.io/plot_app?log=8c88a23e-85c3-4213-b857-a746a2810f2a

note: wind speed 9.0 m/s