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Both branches implemented body rate control independently (#112 upstream). Resolved in favour of the upstream wording and example structure, while keeping this branch's newer 16-element state command (position, velocity, acceleration, attitude quaternion, body rates) over main's 13-element one. Also dropped a MellingerBodyRateData copy that auto-merge duplicated.
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Added the drone with so_rpy dynamics (first principles currently unkown).