multirotor dynamics extraction

[AndrewC2023]

There is not a straight forward way to extract the dynamics of the simple multirotor class since it is heavily baked into the helper classes it uses. This means a user has to define a set of functions in parallel to the class if they want to linearize the model for control design. a port to the nonlinear dynamics base would force this to be addressed with the interface it demands.

[AndrewC2023]

I think this should also include separating out a few of the classes in the simple multirotor file, very bloated