Dds quadplane takeoff

[Ryanf55]

Purpose

Allow VTOL takeoff on quadplane using DDS. I chose to uses the GUIDED user takeoff but am open to using the mission interface. There seems to be differences in implementation.

Details

I only override the start_takeoff function if quadplane is enabled. This saves flash.

Instructions

In ros workspace

ros2 launch ardupilot_sitl micro_ros_agent.launch.py

In ardupilot

./Tools/autotest/sim_vehicle.py -v plane -f quadplane --console --map --enable-dds -DG

In a CLI, switch to guided, arm, takeoff, and send a goal location showing switch to forward flight

ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 15}" # GUIDED
ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "{arm: true}"
ros2 service call /ap/experimental/takeoff ardupilot_msgs/srv/Takeoff "{alt: 20.0}"
ros2 topic pub /ap/cmd_gps_pose ardupilot_msgs/msg/GlobalPosition "{header: {frame_id: map}, latitude: -35.36078618, longitude: 149.16231842, altitude: 600.0, coordinate_frame: 5}"

Issue

Closes #29932

[timtuxworth]

It seems like this actually adds a more generic "plane_takeoff" method for DDS, but initially only implements VTOL, but could implement fixed wing takeoff at some point in the future. I guess my gripe is that the PR says it's only implementing quadplane takeoff, but it's actually more than that, which is actually a good thing.

Any reason not to do it now @Ryanf55 ? Would it not need to simply switch to TAKEOFF mode?

[timtuxworth]

This seems to be a nicely generic function that could be fleshed out to work for fixed wing too.