Flight Tasks: add new trajectory smoothing flight task & library

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

src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file FlightTaskManualPositionSmoothVel.hpp
+ *
+ * Flight task for smooth manual controlled position.
+ */
+
+#pragma once
+
+#include "FlightTaskManualPosition.hpp"
+#include "VelocitySmoothing.hpp"
+
+class FlightTaskManualPositionSmoothVel : public FlightTaskManualPosition
+{
+public:
+	FlightTaskManualPositionSmoothVel() = default;
+
+	virtual ~FlightTaskManualPositionSmoothVel() = default;
+
+	bool activate() override;
+
+protected:
+
+	virtual void _updateSetpoints() override;
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
+					(ParamFloat<px4::params::MPC_JERK_MIN>) _jerk_min, /**< Minimum jerk (velocity-based if > 0) */
+					(ParamFloat<px4::params::MPC_JERK_MAX>) _jerk_max
+				       )
+private:
+
+	VelocitySmoothing _smoothing[3]; ///< Smoothing in x, y and z directions
+};