Add fixed wing rate control module

[Jaeyoung-Lim]

Describe problem solved by this pull request

The fw_att_control module were controlling both attitude and body rate setpoints. While this has been working great, this makes it hard to integrate other control methods on either side of the cascasded loop.

Therefore, this PR proposes adding a separate fw_rate_control module that pulls out the rate control functionality from the fw_att_control module.

Describe your solution

This PR adds a fixed wing rate control module, where we can potentially swap out the controller to other controllers(out of tree modules)

Adding the rate controller as a separate module has the following advantages

• We can run the rate controller at a faster rate, that is appropriate for attitude control
• makes the control framework more modular, for example we can now switch the rate controller to different rate control methods (e.g. indi @kimnerd FYI)
• Cleaner interface between rate control and attitude control so that the interface for each cascaded control is clearly defined
• This moves us closer to a unified rate controller for VTOLs

This is still a WIP, and I have noticed a few things that needs to be resolved before we can actually merge this approach

• This PR breaks the wheel controller - We need to decide on how to handle wheel controller (Fixed-wing takeoff and landing revisions #20537)
  • A lot of information is just getting passed to the attitude controller just for the wheel controller
• Decide on how to handle flap controls (Currently being passed through attitude setpoints)
  • Why are flaps part of the attitude setpoint?
• The fw_rate_control still needs to subscribe to vehicle_attitude_setpoint message since the reset rate integral is included in the vehicle_attitude_setpoint (FW separate reset integrals for attitude and rate setpoint messages #20502)

Test data / coverage

Tested in SITL

Additional context

• This is a continuation of Fixedwing att control rate loop cleanup #20080

[Jaeyoung-Lim]

Backported #20286

[Jaeyoung-Lim]

Rebased

[Jaeyoung-Lim]

Rebased on top of #20502

[sfuhrer]

I flight tested it today on a small tiltrotor VTOL: https://review.px4.io/plot_app?log=ac92bb1e-befe-4afe-9240-198dfdfacd2b. Didn't notice anything extraordinary so far, looks all good!

[Jaeyoung-Lim]

@dagar @tstastny Any outstanding issues before we can get this in?

[Jaeyoung-Lim]

Rebased