VTOL enhancement

[shota3527]

Since the proper VTOL support will be likely to be divided into multiple PRs such as

• mixer profile (merged to master)
• mixer profile fixes (merged to master) additional fixes for mixer profile #9363
• PID refactoring for better flight performance, achieve flyable performance for some builds (partly merged to master) Refactoring on pid iterm #9215
• configurator display issue fix fix mixer_profie configurator issue #9364
• tail sitter support tail sitter vtol support #9347
• Fix or improve potential issues

I would like to create a dedicated branch to combine all updates for testing purpose, This PR is not intended to be merged

Disclamer

Keep in mind that this is a test version of active development.
Don't try this on your most expensive 6 month long build craft!
Try this on bench or in sim first

How to setup

https://github.com/shota3527/inav/blob/sh_vtol/docs/VTOL.md

old version
https://github.com/shota3527/inav/blob/sh_vtol/docs/MixerProfile.md

Firmware

Since major changes have already been merged to master, please use latest master or 7.0 release candidate. unless for tailsitter build

https://github.com/iNavFlight/inav/blob/master/docs/development/How%20to%20test%20a%20pull%20request.md
Or click Checkes in this page, click Build firmware on the left, then you can find firmware for all targets at the boCheckes` in this page, click Build firmware on the left, then you can find firmware for all targets at the bottom ttom of the page

Cli template(double check before use)

https://drive.google.com/drive/folders/1JtEXtbYcBYrCXk4icj1fGcLaPn5xBJ2O?usp=sharing

Configurator

Since major changes have already been merged to master, please use latest master or 7.0 release candidate

https://drive.google.com/drive/folders/1JtEXtbYcBYrCXk4icj1fGcLaPn5xBJ2O?usp=sharing

Known issues

• FIXED mode tab will delete incompatible mode with current activating mixer_profile. such as manual mode
• FIXED manual mode stays on ever after entering the MC mode, do not set manual mode to avoid this
• FIXED output mapping in the configurator is not displaying properly. requires latest configurator to take effect
• VTOL plane in multi-rotor mode can trigger false landing detection in RTH landing in a headwind. set nav_disarm_on_landing to OFF might help
• VTOL plane in multi-rotor mode struggles in windy conditions due to its physical limit

Potentical issues

• CLEARED motor might stop after arming when using DSHOT protocols Timer N channel fix #9276 (comment)

[YI-BOYANG]

Good!

[DzikuVx]

@shota3527 I think we can close this one. After all, VTOL was release with INAV 7