Add a collision avoidance library which uses range data

src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp

@@ -113,6 +113,12 @@ void FlightTaskManualPosition::_scaleSticks()
 
 	/* Rotate setpoint into local frame. */
 	_rotateIntoHeadingFrame(vel_sp_xy);
+
+	//collision avoidance
+	if (_ext_collision_avoidance != nullptr && _ext_collision_avoidance->is_active()) {
+		_ext_collision_avoidance->modifySetpoint(vel_sp_xy, _constraints.speed_xy);
+	}
+
 	_velocity_setpoint(0) = vel_sp_xy(0);
 	_velocity_setpoint(1) = vel_sp_xy(1);
 }

src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp

@@ -56,6 +56,12 @@ public:
 	 */
 	void setYawHandler(WeatherVane *yaw_handler) override { _weathervane_yaw_handler = yaw_handler; }
 
+	/**
+	 * Sets an external collision avoidance which can be used to modify setpoints
+	 */
+	void setCollisionAvoidance(CollisionAvoidance *ext_collision_avoidance) override {_ext_collision_avoidance = ext_collision_avoidance;}
+
+
 protected:
 	void _updateXYlock(); /**< applies position lock based on stick and velocity */
 	void _updateSetpoints() override;
@@ -74,4 +80,5 @@ private:
 	WeatherVane *_weathervane_yaw_handler =
 		nullptr;	/**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
 
+	CollisionAvoidance *_ext_collision_avoidance = nullptr;	/**< external collision avoidance library*/
 };