Spacecraft restructuring and Rate Controller

[Pedro-Roque]

Solved Problem

Sets Spacecraft module structure similar to what currently exists in DifferentialRover, as suggested by @MaEtUgR . Allows for more modularity and less inter-dependent code.

Furthermore, it also adds a spacecraft rate controller to the stack.

Solution

• Ensure SpacecraftHelper follows DifferentialRover module
• Adds rate control for spacecraft vehicles

Changelog Entry

For release notes:

Feature: Spacecraft Rate Controller and module refactoring

Alternatives

None.

Test coverage

• Unit/integration test: partially in SITL. Will do a more complete test once allocation is in place
• Simulation/hardware testing logs: https://review.px4.io/ - will add once allocation is in place

Depends on:

Needs #24716 to be merged

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-april-16-2025/45072/1