Auto traj - Add Trajectory logging

- move the update after the integration: a new computed jerk has an impact at the next epoch only
- add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much
- add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot
- rename some variables

src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp

@@ -70,6 +70,7 @@ protected:
 
 	inline float constrain_one_side(float val, float constrain);
 	void _generateHeadingAlongTrack(); /**< Generates heading along track. */
+	void _updateTrajConstraints();
 	void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
 	void _generateTrajectory();
 	VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions