Co-authored-by: Julian Kent <julian@auterion.com>

 - control allocation module with multirotor, VTOL standard, and tiltrotor support
 - angular_velocity_controller
 - See https://github.com/PX4/PX4-Autopilot/pull/13351

 for details

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>

 - log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
 - this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
 - for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

 - split out switches from manual_control_setpoint into new message manual_control_switches
 - manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
 - simple switch debounce in rc_update (2 consecutive identical decodes required)
 - manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
 - manual_control_setpoint publish at minimal rate unless changing
 - commander handle landing gear switch for manual modes
 - processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
     - a future step will be to finally drop mode_switch and accompanying switches entirely

Co-authored-by: Matthias Grob <maetugr@gmail.com>

 - saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
 - helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry

 - ekf2 can now run in multi-instance mode (currently up to 9 instances)
    - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
 - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
 - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
 - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
 - ekf2 single instance mode is still fully supported and the default

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>

This is important to align the flow with the IMU data and verify that
the compensation is properly done

 * HealthFlags: define bitfield using 1<<X

Co-authored-by: Matthias Grob <maetugr@gmail.com>

 * delete telemetry_heartbeat msg
 * delete unused _telemetry_status_mutex

 - new msg navigator_mission_item for inspecting navigator mission item processing

 - add min/max frequency parameters for peak detection (IMU_GYRO_FFT_MIN, IMU_GYRO_FFT_MAX)
 - remove full FFT debug logging
 - fix Quinn's second estimator
 - log sensor_gyro_fft
 - fake_gyro use PX4Gyroscope

 - this is a work in progress experiment to compute real time FFTs from raw gyro FIFO data on Cortex-m hardware (stm32f4/f7/h7, etc)

 - new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>

 - only published (ORB_ID(generator_status)) and logged for now

 - inconsistency checks now run continuously instead of only preflight
 - keep inconsistencies for all sensors
 - add per sensor data validator state as overall health flag

 - purge all reminaing magnetometer IOCTL usage
 - mag calibration add off diagonal (soft iron) scale factors

 - one telemetry_status publication per mavlink instance
 - each telemetry_status has an array of HEARTBEATS

 - IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu 
 - sensors: voted_sensors_update now consumes vehicle_imu
 - delete sensor_accel_integrated, sensor_gyro_integrated
 - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
 - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)

* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator

uORB: add bitset for faster orb_exists check and remove uORB::Subscription lazy subscribe hack/optimization

 - add PX4 bitset and atomic_bitset with testing
 - add uORB::Subscription constructor to take ORB_ID enum
 - move orb test messages into msg/

 - introduces parameter IMU_DGYRO_CUTOFF to configure the angular acceleration low pass filter
 - the angular acceleration is computed by differentiating angular velocity after the notch filter (IMU_GYRO_NF_FREQ & IMU_GYRO_NF_BW) is applied

Co-authored-by: Julien Lecoeur <jlecoeur@users.noreply.github.com>