Added moveByRotorSpeed command for QuadX

[zbenic]

Enables to move the quadcopter in X configuration by setting each rotor speeds in rad/sec with the command moveByRotorSpeed.

[msftclas]

All CLA requirements met.

[sytelus]

Hi @zbenic,

I was thinking about bit better way to implement this. One way I thought about was to rename existing mveByAngle to moveByAngleZ and then add another method moveByAngleThrottle. That's what I exactly did in this commit: b4a934b

Notice that moveByAngleThrottle ultimately is implemented in simple_flight controller.

Also, instead of yaw, I'm using yaw_rate because that's what RC does. However if you want yaw instead it's very simple change.

I haven't tested this thoroughly but hopefully this provides good starting point for your purpose.

[zbenic]

Thanks for the info, but in my case your proposed solution is not suitable.
I really need to use the Passthrough controller for each control variable, as I do not wish to use any kind of controller (in this case AngleRate's PID).

[sytelus]

In that case, may be we should add new moveByPassthrough API? I thought you needed same control as RC (which internally would end up using PIDs).

[zbenic]

Yeah, I don't need the same control as RC as the plan is to simulate autonomous multirotor.
I guess we could do that. I have named my command moveByRotorSpeed because at one point I convert command argument values (-o0 ... -o3) from rotor speeds to their corresponding roll, pitch, yaw, throttle values. Looks to me that, in this case, name moveByPassthrough could be a bit misleading.

[madratman]

Incorporating @sytelus suggestion in and closing in favor of #2297
Planning to add moveByMotorPWM and moveByMotorSpeed in simpleflightpai