Sub: 4.0 - 4.1 changed from earth to body frame control without warning

[ES-Alexander]

Bug report

Issue details

Sub <= 4.0 used earth frame for manual control, which is generally less intuitive than body frame control, but the earth frame yaw control served as a convenient proxy for roll control during highly pitched inspections, especially since ArduSub currently only accepts joystick control of R+P / V+Y OR F+L / V+Y at a given point in time. Recent versions of Sub have changed to only supporting body frame, which is problematic when the old behaviour was being relied upon.

Relevant forum discussion

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Current proposed solution is to add a parameter that allows selecting the current control frame, and makes use of a subset of the MAV_FRAME enum as the supported options.

(@Williangalvani)

Version Sub >= 4.1

Platform [ ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [x] Submarine

Airframe type What type of airframe (flying wing, glider, hex, Y6, octa etc) Anything with 6-axis control

Hardware type What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc) Pixhawk / Navigator

Logs Please provide a link to any relevant logs that show the issue

[Williangalvani]

closing this as that change has been reverted, but I do intend to re-write it in the near future.