PWM: Add servo center setting & asymetric deflection (#25897)

Add PWM_*_CENTERx for each servo.
Use a bilinear transform to map actuator_servos to PWM signals.

This solution only works for PWM based servos. Other types of servos are not affected.

* PWM: Add servo trim option

* PWM: Improve documentation of PWM trim feature

* PWM: cleaner clamping and docs typo

* update documentation & safety

* add migration formula

* rename param from trim to center

* docs with center instead of trim

* move clamping and reorder values

* improve documentation

* adress failing range check

* improve documentation

* CA: add event for setting CENTER with TRIM

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

---------

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

src/modules/control_allocator/module.yaml

@@ -312,7 +312,11 @@ parameters:
         CA_SV_CS${i}_TRIM:
             description:
                 short: Control Surface ${i} trim
-                long: Can be used to add an offset to the servo control.
+                long: |
+                  Can be used to add an offset to the servo control.
+
+                  NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+                  This parameter can only be set if all PWM Center parameters are set to default.
             type: float
             decimal: 2
             min: -1.0