Rover: add roll and pitch stabilization

[IamPete1]

This adds a roll and pitch angle PID for use with boats with trim tabs. The desired pitch is always zero, the desired roll angle is calculated from the lateral acceleration.

The stabilization is active in all modes except manual and hold. It uses the equivalent plane output functions. currently just outputting on them all. (elevator, aileron, left elevon and right elevon)

Not tested

[IamPete1]

rebased, might flash this onto a plane just to see if its correcting properly (not to fly)

[IamPete1]

rebased

[rmackay9]

I think we need to split this function up into two or three pieces. So there should be:

1. method(s) in the mode class to transform the pilot's inputs into lean angles
2. method that takes target lean angles and passes them to the attitude controller and maybe then pushes them directly into the motors class.

[IamPete1]

I have split into 2 methods and a helper that does them both, hopefully this it is closer to what you had in mind

[IamPete1]

Added some things I though might be useful for walking robots, there is now a ANGLE_MAX param and a motor option bit to disable speed scaling all together.

[IamPete1]

rebased, hopefully fixed and removed dependency on the removal of RCMAP

[IamPete1]

failing CI due to:

ATC_PITCH_FLTT not in XML
ATC_PITCH_FLTD not in XML
ATC_PITCH_FLTE not in XML
ATC_ROLL_FLTT not in XML
ATC_ROLL_FLTD not in XML
ATC_ROLL_FLTE not in XML

[IamPete1]

I had not updated the param descriptions to add the new PID filters params, I have now, should pass CI

[davidbuzz]

tests not passing.

[rmackay9]

We do need roll and pitch control support for walking robots at least.