rosflight/roscopter

AI Summary: Rename the control loops in the ROScopter autopilot to reflect the coordinate frame they operate in. This involves changing names like `Nvel_Evel_Dvel_yawrate` to more accurately represent the inertial and body frames involved in the velocity-to-acceleration conversion. The goal is to improve the intuitiveness of the code.

AI Summary: Add a new ROS message type (`rosflight_msgs/msg/GyroBias`) and modify the `standalone_sensors` node to publish gyro bias values. This will provide ground truth data for comparison with the estimated gyro biases from @iandareid's estimator, aiding in validation and debugging.

AI Summary: Determine the correct method for initializing latitude, longitude, and altitude in the `state_transcription_node` of a ROScopter autopilot. This involves investigating whether using zero is appropriate or if it's better to obtain these values from the vehicle's arming position by subscribing to the `status` message.

AI Summary: Implement missing edge case handling in the ROScopter state machine (located in `roscopter/roscopter/src/controller/controller_state_machine.cpp`). This involves reviewing the existing code to identify and address the described unhandled scenarios within the autopilot's state machine.

AI Summary: Integrate the `rviz_waypoint_publisher` node into the ROScopter simulator launch file, ensuring proper waypoint display and clearing functionality (addressing issue #16), and update the documentation to reflect the changes in the simulator's Ground Control Station (GCS) launch procedure.

AI Summary: Refactor the ROScopter path manager's waypoint clearing mechanism from a service-based approach to a publish/subscribe model. This involves either adding a 'clear_waypoints' flag to the existing waypoint message or creating a new topic for waypoint clearing notifications, ensuring all subscribed nodes (like RViz) correctly handle the clearing event.