wboayue / stable-flight / 38764761149

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QuadPlaneGuidance, QuadPlaneStabilizer, Setpoint::Blend (#391) (#428)

PR 3 of 3 for #391: the quadplane flies hover, transitions, and plane
flight closed loop on `SimQuadPlane`. It adds `QuadPlaneGuidance`,
`QuadPlaneStabilizer`, and `Setpoint::Blend`.

## Behavior

- **`Setpoint::Blend`** (`BlendSetpoint { hover, plane, lift_share }`):
both sides fly at once through a transition (plan decision 8a).
- **`QuadPlaneStabilizer`:**
- Hover setpoints fly the lift rotors on `CopterStabilizer`, with the
surfaces neutral and the pusher stopped (`cruise: Some(0, 0)`, PX4
`VT_ELEV_MC_LOCK`).
- Plane setpoints fly the surfaces and pusher on `PlaneStabilizer`
(`cruise`), with the lift rotors stopped.
- A blend flies both: the lift rotors' thrust and moments are weighted
by the share (NaN counts as 1), and the surfaces fly in full (PX4
`standard.cpp:294-368`).
  - A side that starts flying is primed.
- Autotune runs on the hover side. Params chain `STAB_*` and `PSTAB_*`.
- **`QuadPlaneGuidance`:** `CopterGuidance`, `PlaneGuidance`, and the
`LiftTransition` from #423, with no `View`.
- **Forward:** the hover side holds the altitude the transition began
at, wings level. The pusher flies the plane guidance's thrust for the
command, rising at most `TRAN_PSH_SLEW` (0.33/s, PX4) and capped at
`TRAN_FW_THR` (1.0).
- **Forward pitch:** both sides fly the plane guidance's pitch, within
ArduPilot's transition limits: 0 below 3 m/s of ground speed, ±3°
waiting for airspeed, ±8° on the lift ramp (`quadplane.cpp:4747-4766`).
- **Back:** the pusher is cut and both sides are held level (PX4
`standard.cpp:269`).
- **Other rules:** `Land` requests copter, a bank past `TRAN_ROLL_MAX`
cuts a transition short, and on entering `Plane` the pusher thrust
blends over `TRAN_HANDOFF`.
- **Params:** they chain `GUID_*`, `PGUID_*`, and `TRAN_*`.
`LiftTransitionConfig` gains `forward_thrust`, `pusher_slew_per_s`,
`handoff_s`, and `roll_limit_rad`.
- **Sim:** `airframes::quadplane()` carries ... (continued)

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