fix(mixer_module): change MixingOutput to use float outputs (#26724)

* refactor(mixer_module): change MixingOutput to use float outputs

MixingOutput now passes float values to output drivers instead of
uint16_t. This removes the need for the 8192 offset encoding and
allows reversible motors to receive negative values directly.

* fix(mixer_module): fix float safety issues

-EscClient and voxl2_io: replace outputs[i] with fabs(outputs[i]) > 0.fto fix compilation issues
-GZMixingInterface: add explicit double cast to prevent compilation error
-PWMSim: replaced unit16 cast with lroundf given that now motors outputs can be negative and casting a negative float to unit16 is undefinder behaviour
-mixer_module: same fix of PWM (unit126 cast on negative float is undefined behaviour)

* refactor(mixer_module): float rounding suggestions

* fix(pwm_sim): fix inverted disarmed condition

* fix(mixer_module): more float rounding improvements

* fix(mixer_module_tests): use casting method which are now in drivers for rounding tests

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>

src/drivers/uavcan/uavcan_main.cpp

@@ -1090,8 +1090,7 @@ void UavcanNode::publish_node_statuses()
 }
 
 #if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
-bool UavcanMixingInterfaceESC::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-		unsigned num_control_groups_updated)
+bool UavcanMixingInterfaceESC::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	if (_esc_controller.initialized()) {
 		// num_outputs is the maximum possible number of outputs (8)
@@ -1135,8 +1134,7 @@ void UavcanMixingInterfaceESC::mixerChanged()
 	_esc_controller.set_rotor_count(rotor_count);
 }
 
-bool UavcanMixingInterfaceServo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-		unsigned num_control_groups_updated)
+bool UavcanMixingInterfaceServo::updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	_servo_controller.update_outputs(outputs, num_outputs);
 	return true;