Plane: smooth plane roll to multicopter roll in position 1

[magate]

Context

Currently there is a discontinuity in position 1 when we use multicopter roll for the plane controller. This can be most easily seen when overshooting the path and the plan controller is coming back on course calculating an intercept. We could be right of course and commanding right roll to smoothly line up with the desired ground track. The multicopter controller ends up calculating a left roll for left lateral acceleration to get back on the course (since we are right of course).

In normal operations this does not cause too many issues.

NB: there is still some discontinuity I cannot track down.

Waypoints

position1.txt

Current behavior

current_behavior.BIN.txt

New behavior

new_behavior.BIN.txt

[magate]

Tested this today and it was worse than the current behavior.