AC_AttitudeControl: attitude controller quaternion fix

[lthall]

This PR fixes a problem with the feed forward angular velocity calculation highlighted in issue #17059.

We have also taken this opportunity to redefine the parameter names to make these algorithms easier to read and review.

The last three commits are the first from Hs293Go. These commits focus on replacing the vector rotation to again improve readability and reduce operations.

This PR also sets up the calculations in preparation for thrust vector attitude PR to follow.

[lthall]

Included with #17222

all ok

[peterbarker]

I've reordered the patches in this PR to move the variable renames to the end. The delta was the same.

I've also added a patch on top to make the variable renaming consistent; I used this to do that:

git reset --hard ; for i in AC_AttitudeControl.cpp  AC_AttitudeControl.h AC_AttitudeControl_Heli.cpp AC_AttitudeControl_Multi.cpp AC_AttitudeControl_Sub.cpp AC_AttitudeControl_TS.cpp; do perl -pe '
  s/_attitude_target_euler_angle/_euler_angle_target/g;
  s/_attitude_target_euler_rate/_euler_rate_target/g;
  s/_attitude_target_quat/_attitude_target/g;
  s/attitude_target_quat/attitude_target/g;
  s/att_vehicle_thrust_vec/att_body_thrust_vec/g;
  s/attitude_vehicle_quat/attitude_body/g;
  s/_sysid_ang_vel_body/_rate_sysid_ang_vel/g;
  s/_rate_target_ang_vel/_ang_vel_body/g;
  s/attitude_target_ang_vel_quat/ang_vel_target/g;
  s/desired_ang_vel_quat/ang_vel_body_feedforward/g;
  s/to_to_from_quat/rotation_target_to_body/g;
  s/thrust_vec_correction_quat/thrust_vector_correction/g;
  s/attitude_target_update_quat/attitude_target_update/g;
  s/attitude_error_vector/attitude_error/g;
  s/_attitude_target_ang_vel/_ang_vel_target/g;
  s/_rate_sysid_ang_vel/_sysid_ang_vel_body/g;
    ' -i libraries/AC_AttitudeControl/$i; done && git diff crap/leonard-rebased

I applied that to the pre-rename commit, took the diff and applied the relevant hunks on top of the rename patch and discarded any regressions compared to the existing variable rename patch (mostly comments)

[rmackay9]

I wonder what the difference is between "inertial frame" and "body frame"

[lthall]

It may be clearer to say "rotation from NED to the vehicle body frame."

[rmackay9]

TBH, much of the changes are beyond me but I don't see any obvious errors, thanks!

[peterbarker]

Merged, thanks!