Remove the entire external yaw handler, dynamic memory allocation,
pointer passing logic. Directly instanciate the weather vane instance
in the flight tasks that support it.
The mapping itself was seprated out into a calls because it was reused
for the experimental nudging implementation.
The position resets which were handled correctly before now
change the wrong setpoints and I adjusted.
The nudging has to be before any filtering, then these member setpoints
which are essentially copies are not needed anymore.
The velocity setpoint of the position controller
does a jump when unlocking position with a non-zero position error.
This is solved by using the velocity setpoint feedback to smoothly
take over.
Matthias Grob