vehicle_local_position: rename yaw -> heading and add reset logic

- vehicle_global_position yaw removed (redundant)

src/modules/vmount/output.cpp

@@ -132,14 +132,20 @@ void OutputBase::_handle_position_update(bool force_update)
 	}
 
 	vehicle_global_position_s vehicle_global_position{};
+	vehicle_local_position_s vehicle_local_position{};
 
 	if (force_update) {
 		_vehicle_global_position_sub.copy(&vehicle_global_position);
+		_vehicle_local_position_sub.copy(&vehicle_local_position);
 
 	} else {
 		if (!_vehicle_global_position_sub.update(&vehicle_global_position)) {
 			return;
 		}
+
+		if (!_vehicle_local_position_sub.update(&vehicle_local_position)) {
+			return;
+		}
 	}
 
 	const double &vlat = vehicle_global_position.lat;
@@ -159,7 +165,7 @@ void OutputBase::_handle_position_update(bool force_update)
 		_angle_setpoints[1] = _calculate_pitch(lon, lat, alt, vehicle_global_position);
 	}
 
-	_angle_setpoints[2] = get_bearing_to_next_waypoint(vlat, vlon, lat, lon) - vehicle_global_position.yaw;
+	_angle_setpoints[2] = get_bearing_to_next_waypoint(vlat, vlon, lat, lon) - vehicle_local_position.heading;
 
 	// add offsets from VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET
 	_angle_setpoints[1] += _cur_control_data->type_data.lonlat.pitch_angle_offset;

src/modules/vmount/output.h

@@ -47,6 +47,7 @@
 #include <uORB/topics/mount_orientation.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position.h>
 
 namespace vmount
 {
@@ -124,6 +125,7 @@ protected:
 private:
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
+	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 
 	uORB::Publication<mount_orientation_s> _mount_orientation_pub{ORB_ID(mount_orientation)};
 };