FlightTasks and local setpoint: add thrust setpoint

msg/vehicle_local_position_setpoint.msg

@@ -12,3 +12,6 @@ float32 vz		# in meters/sec
 float32 acc_x	# in meters/(sec*sec)
 float32 acc_y	# in meters/(sec*sec)
 float32 acc_z	# in meters/(sec*sec)
+float32 thr_x   # normalized
+float32 thr_y	# normalized
+float32 thr_z   # normalized

src/lib/FlightTasks/tasks/FlightTask.hpp

@@ -130,6 +130,9 @@ protected:
 	/* Put the yaw anglular rate produced by the task into the setpoint message */
 	void _setYawspeedSetpoint(const float &yawspeed) { _vehicle_local_position_setpoint.yawspeed = yawspeed; }
 
+	/* Put the thrust setpoint produced by the task into the setpoint message */
+	void _setThrustSetpoint(const matrix::Vector3f &thrust_setpoint) { thrust_setpoint.copyToRaw(&_vehicle_local_position_setpoint.thr_x);}
+
 private:
 	uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};