FlightTaskAuto: use the triplets from navigator and not with the internal

ones for obstacle avoidance. Otherwise the vehicle is continuolsy in the
offtrack state. Use already comnputed yaw and yaw speed setpoints instead
of subscription

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp

@@ -269,18 +269,16 @@ void FlightTaskAuto::_updateAvoidanceWaypoints()
 {
 	_desired_waypoint.timestamp = hrt_absolute_time();
 
-	_target.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].position);
+	_triplet_target.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].position);
 	Vector3f(NAN, NAN, NAN).copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].velocity);
 	Vector3f(NAN, NAN, NAN).copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].acceleration);
 
-	_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw = _sub_triplet_setpoint->get().current.yaw;
-	_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw_speed =
-		_sub_triplet_setpoint->get().current.yawspeed_valid ?
-		_sub_triplet_setpoint->get().current.yawspeed : NAN;
+	_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw = _yaw_setpoint;
+	_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw_speed = _yawspeed_setpoint;
 	_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].point_valid = true;
 
 
-	_next_wp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].position);
+	_triplet_next_wp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].position);
 	Vector3f(NAN, NAN, NAN).copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].velocity);
 	Vector3f(NAN, NAN, NAN).copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].acceleration);