Problem Description
Since we have three controllers, and have contributions that are adding more controllers, it would be better if we can structure the controllers properly.
This PR abstracts the different controllers into a parent class Control so that they have a homogeneous interface. This would allow the following benefits
Clear test points for unit testing different controllers
Benchmarking controller performances without running the SITL simulation
Easier to add a new controller without modifying the execution logic of the node
Problem Description Since we have three controllers, and have contributions that are adding more controllers, it would be better if we can structure the controllers properly.
This PR abstracts the different controllers into a parent class
Controlso that they have a homogeneous interface. This would allow the following benefits