* msg: Add estinator information and warning events message (estimator_event_flags)
 * ekf2: publish information and warning events
 * logger: log estimator_event_flags
 * update ecl submodule to latest

Co-authored-by: Daniel Agar <daniel@agar.ca>

 - publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

- add command to request a message
- add gimbal attitude message

mavlink_receiver handle GIMBAL_MANAGER_SET_ATTITUDE

first implementation of new vmount input MavlinkGimbalV2
- setup class
- decode gimbal_manager_set_attitude in ControlData

add gimbal information message

add gimbal manager information and vehicle command ack

mavlink messages: add stream for GIMBAL_MANAGER_INFORMATION

mavlink_receiver: handle GIMBAL_DEVICE_INFORMATION

remove mavlink cmd handling from vmount input MavlinkGimbalV2

complete gimbal manager:
- send out fake gimbal_device_information for dummy gimbals
- complete ROI handling with nudging

small fixes

fix typos

cleanup
- gimbal device information
- flags lock
- check sanity of string

add support for CMD_DO_GIMBAL_MANAGER_ATTITUDE

stream GimbalDeviceAttitudeStatus for dummy gimbals
- add uROB gimbal_attitude_status
- fill status in vmount output_rc for dummy gimbals not able to send the
status themselves
- stream mavlink GimbalDeviceAttitudeStatus

better handle the request for gimbal infomation request

clean up

bring gimbal information back on vmount init

add new gimbal message to mavlink normal stream

fix publication of gimbal device information

rename gimbal_attitude_status to gimbal_device_attitude_status

stream gimbal_manager_status at 5Hz

mavlink: send information only on request

Sending the information message once on request should now work and we
don't need to keep publishing it.

mavlink: debug output for now

make sure to copy over control data

mavlink: add missing copyright header, pragma once

mavlink: address review comments

mavlink: handle stream not updated

Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.

mavlink: remove outdated comment

vmount: add option for yaw stabilization only

The stabilize flag is used for gimbals which do not have an internal IMU
and need the autopilot's attitude in order to do stabilization. These
gimbals are probably quite rare by now but it makes sense to keep the
functionality given it can e.g. be used by simple servo gimbals for
sensors other than highres cameras.

The stabilize flag can also be re-used for gimbals which are capable of
stabilizing pitch and roll but not absolute yaw (e.g. locked to North).
For such gimbals we can now set the param MNT_DO_STAB to 2.

We still support configuring which axes are stabilized by the
MAVLink command DO_MOUNT_CONFIGURE, however, this is generally not
recommended anymore.

vmount: fix incorrect check for bit flag

mavlink_messages: remove debug message

Signed-off-by: Claudio Micheli <claudio@auterion.com>

use device id

remove debug print

gimbal attitude fix mistake

clang tidy fix

split:
- gimbal_attitude -> gimbal_device_set_attitude, gimbal_manager_set_attitude
- gimbal_information -> gimbal_device_informatio, gimbal_manager_information

add gimbal protocol messages to rtps msg ids

support set attitude for gimbal directly speaking mavlink

clean up gimbal urob messages

vmount: address a few small review comments

vmount: split output into v1 and v2 protocol

This way we can continue to support the MAVLink v1 protocol. Also, we
don't send the old vehicle commands when actually using the new v2
protocol.

vmount: config via ctor instead of duplicate param

vmount: use loop to poll all topics

Otherwise we might give up too soon and miss some data, or run too fast
based on commands that have nothing to do with the gimbal.

typhoon_h480: use gimbal v2 protocol, use yaw stab

Let's by default use the v2 protocol with typhoon_h480 and enable yaw
lock mode by stabilizing yaw.

 - new heater_status logging message
 - run continously at low rate until configured sensor is found
 - fix px4io fd bugs (fd open/close/ioctl must be same thread)

For some usecases like starting video recording on a companion computer or triggering a ROS based (offboard control) mission control execution the status of RC channel is needed in ROS(2). This allows the user to start/stop such functionalities from the RC transmitter.

Therefore InputRc to be changed accordingly.
add 'Set send: true' for id: 30

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