AP_Math: define postype_t and vectors

libraries/AP_Math/control.h

@@ -1,5 +1,24 @@
 #pragma once
 
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef HAL_WITH_POSTYPE_DOUBLE
+#define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024
+#endif
+
+#if HAL_WITH_POSTYPE_DOUBLE
+typedef double postype_t;
+typedef Vector2d Vector2p;
+typedef Vector3d Vector3p;
+#define topostype todouble
+#else
+typedef float postype_t;
+typedef Vector2f Vector2p;
+typedef Vector3f Vector3p;
+#define topostype tofloat
+#endif
+
 /*
   common controller helper functions
  */