Rework flaps/spoilers logic

- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES]
- use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint
and spoilers_setpoint) to pass into control allocation
- remove flaps/spoiler related fields from attitude_setpoint topic
- CA: add possibility to map flaps/spoilers to any control surface
- move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER)
- move manual flaps/spoiler handling from rate to attitude controller

FW Position controller: change how negative switch readings are intepreted
for flaps/spoilers (considered negative as 0).

VTOL: Rework spoiler publishing in hover

- pushlish spoiler_setpoint.msg in the VTOL module if in hover
- also set spoilers to land configuration if in Descend mode

Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change

Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller
(which then only is applied in Auto flight), do it consistently over all flight
modes, so also for manual modes.

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

src/modules/logger/logged_topics.cpp

@@ -68,6 +68,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("follow_target", 500);
 	add_optional_topic("follow_target_estimator", 200);
 	add_optional_topic("follow_target_status", 400);
+	add_optional_topic("flaps_setpoint", 1000);
 	add_topic("gimbal_manager_set_attitude", 500);
 	add_optional_topic("generator_status");
 	add_optional_topic("gps_dump");
@@ -103,6 +104,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("sensor_gyro_fft", 50);
 	add_topic("sensor_selection");
 	add_topic("sensors_status_imu", 200);
+	add_optional_topic("spoilers_setpoint", 1000);
 	add_topic("system_power", 500);
 	add_optional_topic("takeoff_status", 1000);
 	add_optional_topic("tecs_status", 200);