Use global position setpoints for formation control #19
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Since PX4 firmware supports global_position setpoints through
SET_POSITION_TARGET_GLOBAL_INT, with PX4/PX4-Autopilot#12819 it is more simpler to use global position setpoints to control the formation of multiple drones.This PR changes the interface to global position setpoints to control each vehicle of the formation. The conversion to local coordinate therefore is done on the vehicle.