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343eab2f05
Switches from using VehicleControlMode to a specific setpoint type message with reply. Reasons: - in case a VehicleControlMode was dropped (e.g. when the mode switched setpoint type), no confirmation was returned, and resulting in wrong controller flags. - cleaner interface separation: external modes do not need to configure (or know) which controller to run for a certain setpoint - allows for external modes to check for compatibility: e.g. a mode using fixed-wing setpoint types can now be rejected on a multicopter. - allows for further extensions, like a setpoint timeout This makes it a bit more effort to add a new setpoint type. Specifically, setpoint_types.cpp needs to be extended when adding a new setpoint message. PX4 internal modes also make use of the setpoint types. The information flow is: nav_state -> setpoint type -> vehicle control mode flags It also adds a timeout to the setpoint config, but is not implemented yet. This changes the interface for external modes and thus the compatibility version is increased.