Peter Hall

Not expecting this to be merged, but looking for approval of the concept so we can get the MAVLink PR (https://github.com/mavlink/mavlink/pull/2088) merged. I did a longer explanation of why this...

This picked up a conflict in arducopter.py autotest, I have rebased.

Rebased.

@lthall This is a more complete re-work. I'm fairly sure we now keep `_euler_angle_target` upto date whenever `_attitude_target` is changed. Either immediately or in the call to `attitude_controller_run_quat`. There are...

Thanks to https://github.com/ArduPilot/ardupilot/pull/26266 this now a much smaller change. We just set `_euler_angle_target` at the end of the possible outcomes this adds the set in `attitude_controller_run_quat` or `reset_yaw_target_and_rate`, the other...

Added a minor tidy up to use the vector method for euler to quaternion. So: ``` _attitude_target.from_euler(_euler_angle_target.x, _euler_angle_target.y, _euler_angle_target.z); ``` becomes: ``` _attitude_target.from_euler(_euler_angle_target); ```

I have spotted a bug in this (I removed a update that we need). I think it might be clearer to just remove the copy in one go. To make...

I have marked as draft for now.

I suspect we could remove the tilt-rotor `motors_active` concept all together, the only other user is here: https://github.com/ArduPilot/ardupilot/blob/1d08662c726a794190e49211f56550ea25c16e9e/ArduPlane/quadplane.cpp#L2090 I would like to do the same for tailsitter, then it remove...

This is a fix for the tricopter motor indexing thing. https://github.com/ArduPilot/ardupilot/pull/26313