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AC_Avoidance: track status Rover: sailboats tack on fence #12117
This adds a method to track if AC_Avodance is actively avoiding, if it is a sailboat will try a tack.
This shows a sailboat sailing upwind between two wayponints parallel to a fence boundary. The sailboat tacks on the fence boundary, at the other it tacks on a cross track error of 100m. This would benefit from the tacking improvements from #11423. Tacking may not always result in traveling away from the fence but in 95% of cases it is a improvement over stopping. I think this should also allow tacking on avoidance data from a rangefinder......
This also lays the ground work for reporting if fence limiting is active, see mavlink/mavlink#1215