* local planner: enable climb / descent in all auto modes

* start cleanup

* test_waypoint_generator: update tests for the new reachHeight mode

* make sure there aren't jump in the setpoints due to delay between
Firmware and planner state when in reachAltitude. Run smoothing always but
when z is not position controlled (landing)

* local planner: cosmetics

* local planner: lock yaw setpoint when in reach height state

* local planner: be compatible with default line traking auto mode where
if it's a position wp point_1 has only velocity setpoints and point_2 has
the actual waypoint

* ttransform printf in ROS_INFO

* local planner: initialize last_wp_type_

* local planner: fix offboard bug. When the goal at takeoff is not directly
above the vehicle, star planner was not receiving the correct goal after
having reached the takeoff point

* fix style

* reset previous yaw setpoint when not in a OA mode such that the smoothing
is properly initialized when the vehicle switches into a OA enabled mode