[mavlink] use register_periodic_telemetry for all messages

- if a mavlink process is specified in the telemetry file, use that, otherwise fall back to fixed message periods
- print warning if telemety file has no mavlink process
- fix code style

conf/telemetry/default_rotorcraft_mavlink.xml

@@ -4,8 +4,34 @@
 
   <process name="Mavlink" type="mavlink">
     <mode name="default">
-      <message name="HEARTBEAT"      period="1.0"/>
-      <message name="SYS_STATUS"     period="1.2"/>
+      <message name="HEARTBEAT"           period="0.5"/>
+      <message name="AUTOPILOT_VERSION"   period="11.1"/>
+      <message name="SYS_STATUS"          period="1.2"/>
+      <message name="SYSTEM_TIME"         period="2.0"/>
+      <message name="ATTITUDE"            period="0.5"/>
+      <message name="ATTITUDE_QUATERNION" period="1.5"/>
+      <message name="LOCAL_POSITION_NED"  period="0.8"/>
+      <message name="GLOBAL_POSITION_INT" period="0.9"/>
+      <message name="BATTERY_STATUS"      period="4.0"/>
+      <message name="GPS_GLOBAL_ORIGIN"   period="5.1"/>
+      <message name="VFR_HUD"             period="1.3"/>
+    </mode>
+    <mode name="RC">
+      <message name="HEARTBEAT"           period="0.5"/>
+      <message name="SYS_STATUS"          period="1.2"/>
+      <message name="ATTITUDE"            period="0.5"/>
+      <message name="GLOBAL_POSITION_INT" period="0.9"/>
+      <message name="BATTERY_STATUS"      period="4.0"/>
+      <message name="RC_CHANNELS"         period="1.2"/>
+    </mode>
+    <mode name="GPS">
+      <message name="HEARTBEAT"           period="0.5"/>
+      <message name="SYS_STATUS"          period="1.2"/>
+      <message name="ATTITUDE"            period="0.5"/>
+      <message name="GLOBAL_POSITION_INT" period="0.9"/>
+      <message name="GPS_RAW_INT"         period="1.0"/>
+      <message name="GPS_GLOBAL_ORIGIN"   period="5.1"/>
+      <message name="GPS_STATUS"          period="2.3"/>
     </mode>
   </process>