Implement spiral and linear segment

[knmcguire]

Now that the HL commander has been improved with the latest release, we can implement this in Crazyswarm as well for the new spiral & linear segment implementation.

Crazyflie firmware PR: https://github.com/bitcraze/crazyflie-firmware/pull/1410 Crazyflie library PR: https://github.com/bitcraze/crazyflie-lib-python/pull/470

These are the steps that needs to be done in order to have full compatibility with Crazyswarm2:

• [ ] Python binding support
• [ ] Cflib backend support
• [ ] Cpp backend support
• [ ] Sim backend support
• [ ] Documentation for usage and overview

[knmcguire]

This will also resolve #587 hopefully