VTOL: fix roll inversion

[jlecoeur]

fixes #4797

Describe problem solved by the proposed pull request
The VTOL attitude controller generates reversed fixed-wing roll commands. As a consequence, all VTOL mixers currently have a minus sign on roll actuators to compensate.

Describe your preferred solution

• Fix sign of the fixed wing commands generated by the VTOL attitude controller
• Fix builtin mixers
• Add a parameter to force users of custom VTOL mixers to check roll control surfaces before flight
• Fix builtin airframes scripts to bypass the new parameter

Flight testing
This requires extensive flight testing on all possible VTOL platforms.

Test card 1:

• Flash firmware on VTOL
• Before flight: Check direction of roll control surfaces
• Fly standard mission, the behaviour should be unchanged

Test card 2:

• set parameter V19_VT_ROLLDIR to 1
• try to arm
• the system should not generate actuator commands, error messages should be displayed on QGC.
• set parameter V19_VT_ROLLDIR to 0
• arm properly

[jlecoeur]

I see spurious jenkins errors like

[21/667] Copying NuttX/nuttx to build/px4_fmu-v2_default/NuttX
FAILED: NuttX/nuttx_copy.stamp 
cd /tmp/jenkins/workspace/e-compile_pr-vtol_roll_inversion && cp -aRfl platforms/nuttx/NuttX/nuttx build/px4_fmu-v2_default/NuttX && cmake -E touch /tmp/jenkins/workspace/e-compile_pr-vtol_roll_inversion/build/px4_fmu-v2_default/NuttX/nuttx_copy.stamp
cp: cannot stat 'platforms/nuttx/NuttX/nuttx/wireless/bluetooth/bt_smp.h': No such file or directory
ninja: build stopped: subcommand failed.
Makefile:171: recipe for target 'px4_fmu-v2_default' failed
make: *** [px4_fmu-v2_default] Error 1
script returned exit code 2

[dagar]

I see spurious jenkins errors like

Should be fixed in master, try rebasing. It was a race condition with the submodules.

[jlecoeur]

I rebased and CI now passes, thanks @dagar

[dagar]

So far looks good. Let's get organized to test everything exhaustively.

[jlecoeur]

@TestFlight this PR only affects VTOLs in fixed wing mode. Please test on all the VTOL platforms you have, see the test cards in my message above. Watch out before Take-Off, look out for a potential roll inversion when in fixed wing mode. There should be no difference with master.

[jlecoeur]

@Tony3dr any update on the flight tests?

[Tony3dr]

@Tony3dr any update on the flight tests?

Sorry for the delay, we are expecting replacement frames for the VTOL we have. We should get the replacements this week.

[jlecoeur]

Great!

[Junkim3DR]

@jlecoeur we were unable to download the firmware from Jenkins.
"Compile All Boards — The build of this commit was aborted"

[jlecoeur]

@Junkim3DR it should be good now

[dannyfpv]

Tested on pixhawk4 mini v5 Convergence frame
The flight went well overall, good transition to plane mode. No noticeable issues. Unfortunately, we got strong winds and the vehicle started drifting so we stopped flying the Convergence, light weight frame.
https://review.px4.io/plot_app?log=da0a2356-eb30-4b77-8deb-696798a263ba

[dagar]

Thank you for finally addressing this @jlecoeur

[dagar]

Follow up issue #11650.