Use non-blocking action logic for first point

[olliewalsh]

The current sync/blocking action can quite often trigger battery undervoltage as low voltage condition will not abort until the first path is reached. Also skip_area does not apply until the first point is reached.

[ClemensElflein]

This should not be affected by merging #60, (if skip_path == true we need to do the approach as normal and then it should work fine). please confirm if you have the time

[olliewalsh]

This should not be affected by merging #60, (if skip_path == true we need to do the approach as normal and then it should work fine). please confirm if you have the time

Rebased/updated. Better for skip_path to apply to the first point too, otherwise like skip_area it can be very tedious to skip through multiple paths