control_allocator: Added linearization feature for 4 servo swash plates to prevent binding (#23961)

* control_allocator: Added linearization feature for heli swashplates to help prevent servo binding

* Apply suggestions from code review

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* update description of CA_LIN_SERVO parameter

* update variable name

* add missing semi-colon

* fix variable referenced before assignment

* add missing indentation

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* removed param unnecessary param

* removed whitespace

* remove CA_LIN_SERVO and enable feature if CA_MAX_SERVO_THROW > 0 plus Update param description.

* remove CA_MAX_SVO_THROW from actuators tab to avoid confusion during standard swashplate setup.

* added comment and fixed spelling mistake

* fix spelling mistake

* fix formatting

* reduce CA_MAX_SVO_THROW short description length to stop test failure

* ActuatorEffectivenessHelicopter: clarfification suggestions for servo linearization feature

* remove NAN check.

---------

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

src/modules/control_allocator/module.yaml

@@ -564,6 +564,20 @@ parameters:
           min: 0
           max: 10
           default: 0.0
+        CA_MAX_SVO_THROW:
+          description:
+            short: Throw angle of swashplate servo at maximum commands for linearization
+            long: |
+              Used to linearize mechanical output of swashplate servos to avoid axis coupling and binding with 4 servo redundancy.
+              This requires a symmetric setup where the servo horn is exactly centered with a 0 command.
+              Setting to zero disables feature.
+          type: float
+          decimal: 1
+          unit: deg
+          increment: 0.1
+          min: 0
+          max: 75
+          default: 0.0
 
         # Others
         CA_FAILURE_MODE: