navigator: skip takeoff if already above takeoff altitude

Don't mess mission item and position setpoint triplet. Here we set position setpoint triplet, that DOESN'T contain any information about time inside and autocontinue. If we set next waypoint for item with delay MC position controller will be very confused - it will try to fly via waypoint to next one, without slowing down, but "waypoint reached" will be not triggered and it will have to return back. I think the same for FW: in case of normal wypoint FW should simply fly through, but if it's delayed, it should start circling on it. I.e. maybe also need to add pos_sp_triplet.current.type = LOITER here?