Navigator: Land: Improve it for VTOL by taking breaking distance into account

[Claudio-Chies]

Solved Problem

When triggering a Land on a VTOL, the horizontal speed might not be zero after the back transition, resulting in a weird flying back movement, which comes from the fact that the setpoint is only updated until the transition is done, and not until it has come to a stop.

Solution

I propose we adapt the target landing location location setpoint based on the current velocity, and possible acceleration and jerk in MC mode.

Changelog Entry

Bugfix: VTOL Landing Location
Documentation: Landing location for VTOL is where it came to an full halt, and not where backtransition was completed.

Test coverage

Tested in SITL & on Hardware

[Jaeyoung-Lim]

I can confirm that this caused quite hairy situations when flying our VTOL, (rapid loss of altitude after transitions)

[sfuhrer]

Seems like the right solution to me. Let's though first test if on real hardware before merging.

[Claudio-Chies]

Tested on Hardware, seems to work nicely
added flight log to PR above

[sfuhrer]

Thanks!