Improve logging for Modal IO ESC (#21188)

- always publish esc_status
 - when enabled via MODAL_IO_VLOG param, enable actuator debug output

 - for modal_io commands, use ESC HW ID values instead of motor number for easier use
 - publish esc_status message for command line commands

 - Uncommented the code that fills in the cmdcount and power fields in the esc_status topic

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Co-authored-by: Travis Bottalico <travis@modalai.com>

msg/ActuatorOutputs.msg

@@ -5,4 +5,4 @@ uint32 noutputs				# valid outputs
 float32[16] output				# output data, in natural output units
 
 # actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
-# TOPICS actuator_outputs actuator_outputs_sim
+# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug

msg/EscReport.msg

@@ -5,12 +5,14 @@ float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
 float32 esc_current					# Current measured from current ESC [A] - if supported
 float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
 uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
+uint8 esc_cmdcount					# Counter of number of commands
 
 uint8 esc_state					# State of ESC - depend on Vendor
 
 uint8 actuator_function				# actuator output function (one of Motor1...MotorN)
 
 uint16 failures					# Bitmask to indicate the internal ESC faults
+int8 esc_power					# Applied power 0-100 in % (negative values reserved)
 
 uint8 FAILURE_OVER_CURRENT = 0 			# (1 << 0)
 uint8 FAILURE_OVER_VOLTAGE = 1 			# (1 << 1)