mc_att_control: refactor: switch to matrix library #9161
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As discussed with @dagar, @RomanBapst and @bkueng I'm completely switching to the matrix library for the multicopter attitude controller. That was anyways the plan and is a further step to get rid of duplicate matrix functionality implementation in
mathlib. I concentrated on not refactoring other things to minimize risk for now. I still have some further simplifications in mind.The complete matlib is still in the include chain because of the rotation implementation
#include <conversion/rotation.h>but the controller does not depend on this path of the include chain.This pr is based on #9113 to avoid conflicts.