support orbit command in fixed wing mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander: support orbit mode for fixed wings

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FwPositionControl: publish orbit status

Signed-off-by: RomanBapst <bapstroman@gmail.com>

commander:reject orbit mode while doing a vtol transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>

FixedWingPositionControl: explicitly cast waypoint for Orbit status

FixedwingPositionControl: fill missing orbit_status fields

navigator_main: handle reposition/orbit corner cases

- set orbit rotation direction correctly
- send mavlink message when orbit is rejected

FixedWingPositionControl: correctly report rotation direction in orbit_status

navigator: hack to not break orbit while doing altitude changes

Signed-off-by: RomanBapst <bapstroman@gmail.com>

navigator: set cruise throttle for orbit command

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp

@@ -42,7 +42,7 @@
 #pragma once
 
 #include "FlightTaskManualAltitudeSmoothVel.hpp"
-#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/orbit_status.h>
 #include "StraightLine.hpp"
 #include <lib/slew_rate/SlewRateYaw.hpp>
@@ -114,7 +114,7 @@ private:
 	float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */
 	SlewRateYaw<float> _slew_rate_yaw;
 
-	uORB::Publication<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
+	uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise, /**< cruise speed for circle approach */