Tools: added Callisto model from Leonard

Tools/autotest/models/Callisto.json

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+# Callisto model, see https://www.freespaceoperations.com.au/
+
+{
+    # total vehicle mass
+    "mass" : 32.5,
+
+    # vehicle diameter
+    "diagonal_size" : 1.325,
+
+    # the ref parameters should be taken from a test
+    # with the copter flying at constant speed in zero wind. This is used
+    # to estimate the drag coefficient
+    "refSpd" : 14.88,    # m/s
+    "refAngle" : 8.91,   # degrees
+    "refVoltage" : 46.9, # volts
+    "refCurrent" : 65.36, # Amps
+    "refAlt" : 26,       # meters AMSL
+    "refTempC" : 25,     # degrees C
+    "refBatRes" : 0.024, # BAT.Res from log
+
+    # full battery voltage
+    "maxVoltage" : 50.4,
+
+    # MOT_THST_EXPO
+    "propExpo" : 0.5,
+
+    # approximage maximum yaw rate in deg/sec
+    "refRotRate" : 120,
+
+    # hover throttle from 0 to 1
+    "hoverThrOut" : 0.36,
+
+    # MOT_PWM_MIN
+    "pwmMin" : 1000,
+
+    # MOT_PWM_MAX
+    "pwmMax" : 1940,
+
+    # MOT_SPIN_MIN
+    "spin_min" : 0.2,
+
+    # MOT_SPIN_MAX
+    "spin_max" : 0.975,
+
+    # maximum motor slew rate, or zero to disable
+    "slew_max" : 75
+}

Tools/autotest/models/Callisto.param

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+ACRO_YAW_P,2
+ANGLE_MAX,3000
+ATC_ACCEL_P_MAX,30000
+ATC_ACCEL_R_MAX,30000
+ATC_ACCEL_Y_MAX,6000
+ATC_ANG_PIT_P,6
+ATC_ANG_RLL_P,6
+ATC_ANG_YAW_P,5
+ATC_INPUT_TC,0.25
+ATC_RAT_PIT_D,0.0080
+ATC_RAT_PIT_FLTD,10
+ATC_RAT_PIT_I,0.1634
+ATC_RAT_PIT_IMAX,0.5
+ATC_RAT_PIT_P,0.1634
+ATC_RAT_RLL_D,0.0085
+ATC_RAT_RLL_FLTD,10
+ATC_RAT_RLL_I,0.1671
+ATC_RAT_RLL_IMAX,0.5
+ATC_RAT_RLL_P,0.1671
+ATC_RAT_YAW_I,0.05
+ATC_RAT_YAW_P,0.5
+ATC_SLEW_YAW,3000
+ATC_THR_MIX_MAX,2
+AUTOTUNE_AGGR,0.1
+AUTOTUNE_MIN_D,0.001
+FRAME_CLASS,4
+FRAME_TYPE,1
+INS_ACCEL_FILTER,10
+LOIT_ACC_MAX,457.2916
+LOIT_ANG_MAX,25
+MOT_BAT_CURR_TC,2
+MOT_BAT_VOLT_MAX,50.4
+MOT_BAT_VOLT_MIN,39.6
+MOT_HOVER_LEARN,0
+MOT_PWM_MAX,1940
+MOT_PWM_MIN,1000
+MOT_SPIN_ARM,0.16
+MOT_SPIN_MAX,0.975
+MOT_SPIN_MIN,0.2
+MOT_THST_EXPO,0.5
+MOT_THST_HOVER,0.52
+MOT_YAW_HEADROOM,50
+PSC_ACCZ_FLTD,10
+PSC_ACCZ_FLTE,0
+PSC_ACCZ_FLTT,10
+PSC_ACCZ_I,0.5
+PSC_ACCZ_P,0.25
+PSC_ANGLE_MAX,45
+PSC_POSXY_P,1
+PSC_POSZ_P,0.5
+PSC_VELZ_P,2.5
+WPNAV_ACCEL,250
+WPNAV_SPEED,1500
+SIM_BATT_VOLTAGE 50