Trajectory - Add time synchronization between trajectories. Split update(...) function into updateDurations(...) and integrate(...) to be able to insert time synchronization in between.

Derivation by Mathieu Bresciani:
https://github.com/Auterion/trajectory_generator

* Add attitude sub to mc_pos_control for yaw usage.

* Initialize pos control _states struct.

* Remove unnecessary init for struct in mc pos ctrl.

* Only use att topic for yaw setting in FlightTask.

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

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

vehicle state.

The hover thrust param also changed the thrust scaling in Stabilized mode.
However if the hover thrust is very low (e.g. below 20%), the throttle
stick input becomes very distorted.

Instead of calling _updateSetpoints(), that also sets the thrust setpoint,
which is then overwritten again.

It's confusing and there is a corner case where the result is incorrect:
*= 0 will not set the variable to 0 if it's already NAN.

With minimum throttle set to 0, it was not possible to control the attitude
anymore at 0 throttle, the vehicle would just stay level.

to altitude_acceptance

is inside the xy acceptance radius but not inside the z acceptance radius

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

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

- fixes #10345