vehicle local position setpoint: use array for thrust setpoint

msg/vehicle_local_position_setpoint.msg

@@ -12,6 +12,4 @@ float32 vz		# in meters/sec
 float32 acc_x	# in meters/(sec*sec)
 float32 acc_y	# in meters/(sec*sec)
 float32 acc_z	# in meters/(sec*sec)
-float32 thr_x   # normalized
-float32 thr_y	# normalized
-float32 thr_z   # normalized
+float32[3] thr	# normalized thrust vector in NED

src/lib/FlightTasks/tasks/FlightTask.hpp

@@ -131,7 +131,7 @@ protected:
 	void _setYawspeedSetpoint(const float &yawspeed) { _vehicle_local_position_setpoint.yawspeed = yawspeed; }
 
 	/* Put the thrust setpoint produced by the task into the setpoint message */
-	void _setThrustSetpoint(const matrix::Vector3f &thrust_setpoint) { thrust_setpoint.copyToRaw(&_vehicle_local_position_setpoint.thr_x);}
+	void _setThrustSetpoint(const matrix::Vector3f &thrust_setpoint) { thrust_setpoint.copyTo(_vehicle_local_position_setpoint.thr);}
 
 private:
 	uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};

src/modules/mc_pos_control/PositionControl.cpp

@@ -90,7 +90,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se
 	_pos_sp = Data(&setpoint.x);
 	_vel_sp = Data(&setpoint.vx);
 	_acc_sp = Data(&setpoint.acc_x);
-	_thr_sp = Data(&setpoint.thr_x);
+	_thr_sp = Data(setpoint.thr);
 	_yaw_sp = setpoint.yaw; //integrate
 	_yawspeed_sp = setpoint.yawspeed;
 	_interfaceMapping();
@@ -100,7 +100,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se
 	 */
 	_skipController = false;
 
-	if (PX4_ISFINITE(setpoint.thr_x) && PX4_ISFINITE(setpoint.thr_y) && PX4_ISFINITE(setpoint.thr_z)) {
+	if (PX4_ISFINITE(setpoint.thr[0]) && PX4_ISFINITE(setpoint.thr[1]) && PX4_ISFINITE(setpoint.thr[2])) {
 		_skipController = true;
 	}
 }