mc_pos_control_main smooth takeoff: enable position-xy/yaw control once above 0.5m from takeoff reference

just keep thrust vector pointing upward

smooth-takeoff. This is only required if someone writes a FlightTask where both position
and velocity setpoints are finite

vehicle state.

refactor use_obstacle_avoidance method

desired such that it's possible to use it in manual modes

There were cases where the console was continuously spammed with activation
failure messages.

- in auto mode we always run weather vane
- in manual model we just use it in position control mode

Signed-off-by: Roman <bapstroman@gmail.com>

Signed-off-by: Roman <bapstroman@gmail.com>

Signed-off-by: Roman <bapstroman@gmail.com>

Signed-off-by: Roman <bapstroman@gmail.com>

Signed-off-by: Roman <bapstroman@gmail.com>

Signed-off-by: Roman <bapstroman@gmail.com>

Signed-off-by: Roman <bapstroman@gmail.com>

 - The first waypoint contains the vehicle current position and the desired velocity setpoint

- fixes #10345

the Flighttask fail. A failure of the Flighttask can occur if the demanded Flighttask does
not have the required data.

without this tasks will be switched all the time and the drone starts driftig

active

isn't duplicated

structure (flight task refactor)

- rename flight tasks to use camelCase
- add core tasks to flight tasks cmake
- add additional tasks in targets (TODO)
- add templates
- generate hpp and cpp which contain all specified tasks