fix(sih): fix velocity in body direction

[sfuhrer]

Solved Problem

See https://github.com/PX4/PX4-Autopilot/pull/27376/changes#r3264262813

Solution

Use the correct ground speed rotated to body frame.

[github-actions]

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 168 byte (0.01 %)]

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px4_fmu-v6x [Total VM Diff: 0 byte (0 %)]

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Updated: 2026-05-19T07:09:36

[mbjd]

Looks correct - while we're at it we could also change the conversion in generate_force_and_torques to look the same (_q_E.rotateVectorInverse(_R_N2E * _v_apparent_N); is equivalent to this)