wboayue / stable-flight / 38514805817

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CsvRecorder in sitl; --record on copter manual (#337) (#382)

Shared per-tick CSV recorder in `stable-flight-sitl`, and `--record` on
`copter-manual-realflight` for the #337 heading-wobble check.

## Changes

- `stable_flight_sitl::recorder`: `CsvRecorder<C: Columns, W: Write>`, a
`TelemetryPublisher` writing `wall_s` plus a column set per tick, to a
file (`create`) or any writer (`new`); records nothing without one;
write failures are ignored.
- `CopterColumns`: body rates, Euler angles, altitude, moments, thrust,
attitude setpoint, stick yaw.
- `TailsitterColumns { view }`: the tailsitter examples' columns, moved
unchanged.
- `copter-manual-realflight --record <csv>` (`just fly-manual --record
flight.csv`).
- `copter-autotune-realflight`, `tailsitter-manual-realflight`,
`tailsitter-auto-realflight` use the shared recorder (about 300 lines of
copies removed). Autotune's CSV gains `armed`, `sp_*`, `stick_yaw`.
- Docs: sitl README/crate doc, root README crate index, AGENTS.md,
justfile, both changelogs.

## #337 attribution (sim)

`quad_x` in the sim: hover, then 6 diagonal tilt pulses (roll = pitch,
0.5 s on / 0.5 s off), heading setpoint fixed. Max |heading| / RMS yaw
rate:

| Attitude error | 10° | 20° | 30° |
|---|---|---|---|
| `main` (quaternion, cos-tilt-weighted heading) | 0.41° / 0.82°/s |
1.68° / 3.15°/s | 4.00° / 6.11°/s |
| weighting removed | 0.41° / 0.83°/s | 1.65° / 3.32°/s | 3.82° /
6.81°/s |
| pre-#336 per-axis Euler error | 0.42° / 0.83°/s | 1.66° / 3.35°/s |
3.85° / 7.03°/s |

#336 doesn't cause the wobble: it's the same with the pre-#336 error,
and with the weighting removed. The heading excursion grows with
diagonal tilt and predates #336.

## Testing

- `cargo test -p stable-flight-sitl recorder`: header, row shape for
every setpoint and input under both column sets,
setpoint/stick/mode/refusal fields, no writer/path, file creation and a
missing directory, failed header (error) and failed row (ignored).
`recorder.rs` 105/107 lines... (continued)

86 of 88 new or added lines in 1 file covered. (97.73%)

5477 of 6090 relevant lines covered (89.93%)

5.46 hits per line