Extend Multicoptor Control system to include nested model inertial params

[iche033]

Signed-off-by: Ian Chen ichen@osrfoundation.org

🦟 Bug fix

Updated the multicoptor velocity control system's inertial computation to include nested models. With this change, the controller will now be able to generate more thrusts when a higher motor_constant is specified. Before this change, the drone will not be able to take-off. This is useful when adding payloads (in the form of nested models) with heavy mass to the drone platform

An integration test is added for this use case.

Here is an example of it working in our test environment:

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[codecov]

Codecov Report

Merging #1450 (fc7a0ce) into ign-gazebo6 (269c9b9) will not change coverage.
The diff coverage is n/a.

❗ Current head fc7a0ce differs from pull request most recent head 470cc2b. Consider uploading reports for the commit 470cc2b to get more accurate results

@@             Coverage Diff              @@
##           ign-gazebo6    #1450   +/-   ##
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  Coverage        33.58%   33.58%           
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  Files               44       44           
  Lines             2260     2260           
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  Hits               759      759           
  Misses            1501     1501           

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