Decouple core data types from ROS#4
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Split the monolithic ommpc_controller package into two independent packages: - ommpc_core: ROS-free MPC core (controller, MPC wrapper, types, math) - ommpc_ros: ROS adapters (MAVROS interface, param loading, FSM example) Also improve the FSM design example with: - has_takeoff_/has_land_ guards to prevent duplicate takeoff/land - consecutive_failures_ counter to prevent state bounce after MPC failure - Offboard mode check with safe fallback in takeoff/land transitions - Idle safe command (zero bodyrates + min thrust) when not in offboard - Trigger auto-reset at end of each callback cycle - Ctrl+C graceful shutdown via ros::ok() checks - Thrust estimation gating during TAKEOFF and LAND Document the complete FSM in misc/state_machine.txt.
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Split the monolithic ommpc_controller package into two independent packages:
Also improve the FSM design example with: (the complete FSM document is in misc/state_machine.txt)