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/modules/logger/logger.cpp

@@ -641,6 +641,7 @@ void Logger::add_default_topics()
 	add_topic("sensor_preflight", 200);
 	add_topic("system_power", 500);
 	add_topic("tecs_status", 200);
+	add_topic("trajectory_setpoint");
 	add_topic("telemetry_status");
 	add_topic("vehicle_air_data", 200);
 	add_topic("vehicle_attitude", 30);