Geofence: rework messaging and notification

- do reporting of breaching in-air only in geofenceCheck
- remove geofence_violation_reason_t
- replace geofence_breached field in GeofenceResult.msg with 3 fields
(one for each GF type: max dist, max alt, custom geofence)
- the warning message after breaching a GF is only done by Commander,
and it's specific to the GF type failure

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

msg/FailsafeFlags.msg

@@ -43,7 +43,7 @@ bool battery_low_remaining_time       # Low battery based on remaining flight ti
 bool battery_unhealthy                # Battery unhealthy
 
 # Other
-bool primary_geofence_breached        # Primary Geofence breached
+bool geofence_breached        	      # Geofence breached (one or multiple)
 bool mission_failure                  # Mission failure
 bool vtol_fixed_wing_system_failure   # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
 bool wind_limit_exceeded              # Wind limit exceeded

msg/GeofenceResult.msg

@@ -6,7 +6,8 @@ uint8 GF_ACTION_RTL = 3                 # switch to AUTO|RTL
 uint8 GF_ACTION_TERMINATE = 4           # flight termination
 uint8 GF_ACTION_LAND = 5                # switch to AUTO|LAND
 
-uint8 geofence_violation_reason         # one of geofence_violation_reason_t::*
+bool geofence_max_dist_triggered	# true the check for max distance from Home is triggered
+bool geofence_max_alt_triggered		# true the check for max altitude above Home is triggered
+bool geofence_custom_fence_triggered	# true the check for custom inclusion/exclusion geofence(s) is triggered
 
-bool primary_geofence_breached          # true if the primary geofence is breached
-uint8 primary_geofence_action           # action to take when the primary geofence is breached
+uint8 geofence_action           	# action to take when the geofence is breached