Use yawrate setpoint from weather vane only if velocity setpoint is small
(smaller than half the cruise velocity)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This will allow navigator to not output any setpoints while disarmed.
Otherwise the position controller outputs warnings in the form of:
Auto activation failed with error: Activation Failed
The risk here is that it could hide problems, where navigator sends invalid
triplets when it should not.
- rename of flag in position sp: from allow_weather_vane to disable_weather_vane
- flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission
- flag is set before front transition to align with wp, and unset after alignment is over
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Dusan Zivkovic