Plane: added yaw rate control PID

[tridge]

This adds PID parameters for a yaw rate controller for ACRO mode. It is intended to be used for the fixed wing aerobatics supports, but may be useful for ACRO pilots

To enable for ACRO mode, set ACRO_YAW_RATE to desired maximum rate in degrees/second, and set YAW_RATE_ENABLE=1 to enable PID tuning of yaw rate controller

pair programmed with Andy Palmer and Matthew Hampsey

[IamPete1]

Any thoughts on using this for Rover on boats with rudders? Should be an improvement over the way speed scaling is done currently. Great to see this enhancement!

[tridge]

Any thoughts on using this for Rover on boats with rudders?

I haven't looked at it, but it should work I think
the SCRIPT_TIME stuff would be fun for fast motor boats :-)

[tridge]

@IamPete1 a review would also be welcome so I can get this merged :-)

[IamPete1]

A couple of very minor comments but basically looks good.

[andypnz]

Working great in SITL. Hope to test in a plane soon :-)

[andypnz]

Yaw autotune and the yaw rate controller working great out at the flying field :-) Successful rolling circle with the MXS foamy no problems at all!

[priseborough]

If the dependency on the value of the _RATE_ENABLE param is noted in the ACRO_YAW_RATE parameter description and the default yaw rate control parameter values are safe to use with a powerful rudder plane like the PA Addiction X, then this should be OK to merge given it is an advanced feature that is off by default.

[priseborough]

If the dependency on the value of the _RATE_ENABLE param is noted in the ACRO_YAW_RATE parameter description and the default yaw rate control parameter values are OK to use with a powerful rudder plane like the PA Addiction X, then this should be OK to merge given it is an advanced feature that is off by default.