VTOL: Only Reset Thrust but not Attitude when Disarmed

[MaEtUgR]

Describe problem solved by this pull request
Apparently hot fixing the takeoff with #12250 had the side effect #13167:
VTOL flaps are not moving according to attitude control before arming in multicopter state.
VTOL flaps of a tailsitter are moving trying to reach north heading.

Describe your solution
Since for the takeoff fix it's only necessary to reset the body thrust I'm removing removing the reset for the attitude setpoint quaternion.

Describe possible alternatives
The real solution is to have a clear strategy to always publish an attitude setpoint AND to handle no valid attitude setpoint properly in the attitude controller. This is again a hotfix.

Test data / coverage

• Check takeoff is still smooth for VTOL in gazebo (doesn't break original issue VTOL thrust bug on takeoff still existent #12171)
• Check flaps are moving in the described case on the real vehicle (fixes 【Vtol】The left and right ailerons have a large output when they are stationary on the ground. #13167)

Additional context
First proposal by @xdwgood to solve this: #13178. I'm assuming it wouldn't pass the first test above.

[dagar]

@xdwgood could you verify if this fixes the problem from your perspective?

[MaEtUgR]

@dagar I think I understood the problem of #13167 is that the attitude setpoint is reset as well including the yaw heading which shows in terms of moving flaps to always reach level and head north. Heading north results in the described symptoms from #13167. Also it doesn't allow to check the flaps by sticks on any VTOL in multicopter stabilized because the setpoint is always level.

I tried just removing the attitude from reseting but this has other even rarer corner cases where if you deflect the stick in stabilized and switch to altitude the flaps stay how they were last until the spoolup time of the position controller is through. So I think I need to implement the real solution otherwise we're turning in circles here.

@xdwgood @sfuhrer I'm on it.

[MaEtUgR]

I came up with a strategy:
First I fix purely the preoblem of #13167 here which is a minimal change. And then in another pr I'll propose the real fix that will publish attitude setpoints all the time and allow testing the flaps with sticks in multicopter again in all modes.

[MaEtUgR]

I checked the takeoff in VTOL gazebo and it's still fine (as expected):

@xdwgood It would be nice if you could check if your issue is fixed with this since I don't have a tailsitter at hand.

[xdwgood]

I'll propose the real fix that will publish attitude setpoints all the time and allow testing the flaps with sticks in multicopter again in all modes.

That will be fine

@MaEtUgR I verified that it works the same as expected.
// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
Do you think we need to change this comment? 😃

[xdwgood]

😃

[MaEtUgR]

Attempt for the real fix #13210 according to the strategy in #13198 (comment).