use only one parameter and enable parameter change in flight. clean up code

src/lib/CollisionPrevention/CollisionPrevention.cpp

src/lib/CollisionPrevention/CollisionPrevention.hpp

src/lib/CollisionPrevention/collisionprevention_params.c

...htTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp

...htTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp