FlightTaskAuto: Lock down yaw when waypoint is reached
FlightTaskAuto: Lock down yaw when waypoint is reached

This is done to prevent yawing 180 degrees when switching
to hold mode with high velocity and the overshoot causing a 180°
yaw turn.

The yaw is unlocked on waypoint updates and the yaw
setpoint generation had to be put at the end because otherwise the
first yaw calculation is with the old waypoint and immediately
locks again.

PX4/Firmware,krbeverx/Firmware,PX4/Firmware,PX4/Firmware,krbeverx/Firmware,krbeverx/Firmware,acfloria/Firmware,acfloria/Firmware,acfloria/Firmware,acfloria/Firmware,PX4/Firmware,krbeverx/Firmware,PX4/Firmware,PX4/Firmware,PX4/Firmware,krbeverx/Firmware,krbeverx/Firmware,acfloria/Firmware,acfloria/Firmware,acfloria/Firmware,krbeverx/Firmware