Jacob/fix state message error

[JMoore5353]

This PR:

• Fixes a place where we forgot to update the state message from cleanup: refactored state message to be more consistent and readable. #47
• Updates the controller parameters from our hardware tests

[Copilot]

Pull request overview

This PR addresses a state message field access bug introduced in PR #47 and updates controller/vehicle parameters based on hardware testing results.

Key Changes:

• Fixed state message field references from array indexing to named struct members
• Updated PID controller gains for improved performance based on hardware tests
• Adjusted vehicle physical parameters to match actual hardware measurements

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated no comments.

File	Description
roscopter/src/controller/controller_cascading_pid.cpp	Fixed state message field access to use named members instead of array indices
roscopter/params/multirotor.yaml	Updated PID gains and velocity limits based on hardware test results
roscopter/config/multirotor_frame_config.yaml	Updated physical parameters (mass, air density, voltage, prop coefficient) to match actual hardware

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