CRTP port for controlling motors directly

[knmcguire]

Currently, it is only possible to control the motors through the parameter framework from outside the Crazyflie, which does not work out nicely... If somebody is having an offboard controller with motor-mixing included, it is now only possible to use the commander port for roll pitch and yaw. https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/crtp/crtp_commander/. The lowest that someone can go is to use the commander port and set the stabilization mode for roll and pitch to rate through parameters: https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/api/params/#flightmode

What I'm suggesting is to have a crtp-port that overrides the motors' input

[knmcguire]

Just a collection of people trying stuff for this before:
https://forum.bitcraze.io/viewtopic.php?p=23241&hilit=rpm#p23241
https://forum.bitcraze.io/viewtopic.php?p=14608&hilit=motor+inputs#p14608
https://forum.bitcraze.io/viewtopic.php?t=2730&start=10

Especially the last one is interesting

[knmcguire]

https://github.com/orgs/bitcraze/discussions/1058
https://github.com/orgs/bitcraze/discussions/184