MulticopterPositionControl: publish stricter tilt limit during takeoff

msg/takeoff_status.msg

@@ -10,3 +10,5 @@ uint8 TAKEOFF_STATE_RAMPUP            = 4
 uint8 TAKEOFF_STATE_FLIGHT            = 5
 
 uint8 takeoff_state
+
+float32 tilt_limit # limited tilt feasability during takeoff, contains maximum tilt otherwise

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -461,13 +461,12 @@ void MulticopterPositionControl::Run()
 		// Publish takeoff status
 		const uint8_t takeoff_state = static_cast<uint8_t>(_takeoff.getTakeoffState());
 
-		if (takeoff_state != _old_takeoff_state) {
+		if (takeoff_state != _takeoff_status_pub.get().takeoff_state
-			takeoff_status_s takeoff_status{};
+		    || !isEqualF(_tilt_limit_slew_rate.getState(), _takeoff_status_pub.get().tilt_limit)) {
-			takeoff_status.takeoff_state = takeoff_state;
+			_takeoff_status_pub.get().takeoff_state = takeoff_state;
-			takeoff_status.timestamp = hrt_absolute_time();
+			_takeoff_status_pub.get().tilt_limit = _tilt_limit_slew_rate.getState();
-			_takeoff_status_pub.publish(takeoff_status);
+			_takeoff_status_pub.get().timestamp = hrt_absolute_time();
-
+			_takeoff_status_pub.update();
-			_old_takeoff_state = takeoff_state;
 		}
 
 		// save latest reset counters

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -92,7 +92,7 @@ private:
 
 	orb_advert_t _mavlink_log_pub{nullptr};
 
-	uORB::Publication<takeoff_status_s> _takeoff_status_pub{ORB_ID(takeoff_status)};
+	uORB::PublicationData<takeoff_status_s> _takeoff_status_pub{ORB_ID(takeoff_status)};
 	uORB::Publication<vehicle_attitude_setpoint_s>	_vehicle_attitude_setpoint_pub;
 	uORB::Publication<vehicle_local_position_setpoint_s> _local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)};	/**< vehicle local position setpoint publication */
 
@@ -200,8 +200,6 @@ private:
 	systemlib::Hysteresis _failsafe_land_hysteresis{false}; /**< becomes true if task did not update correctly for LOITER_TIME_BEFORE_DESCEND */
 	SlewRate<float> _tilt_limit_slew_rate;
 
-	uint8_t _old_takeoff_state{};
-
 	uint8_t _vxy_reset_counter{0};
 	uint8_t _vz_reset_counter{0};
 	uint8_t _xy_reset_counter{0};