drivers/cyphal: incremental fixes for fmu-v5 (#20671)

* Cyphal: fix comparing floating-point issue

* Cyphal: fix setpoint serialization

* Cyphal: fix bug with wrong comparasion of param name and pub/sub name: remove prefix from UavcanPublisher::updateParam and UavcanDynamicPortSubscriber::updateParam and PublicationManager::updateDynamicPublications

* Cyphal: integrate UavcanEscController with PublicationManager, remove second instance of UavcanEscController from CyphalNode

* Cyphal: publish readiness with minimal frequency because according to UDRAL The drive shall enter STANDBY state automatically if the readiness subject is not updated for CONTROL_TIMEOUT

* Cyphal: increase setpoint publish rate from ~75 to 200 by removing PX4_INFO (it really significantly react on the the output rate) and changing the mixing output rate and the shedule interval

* Cyphal: restore prefix because we need it for uorb over uavcan/cyphal and add udral prefix for non uorb pub/sub

* Cyphal: fix DynamicPortSubscriber subscription: if it has multiple subscribers, it should call subscription only after updating of all port subscribers port identifiers

* Cyphal: fix SubscriptionManager: we should take care about prefix

* Cyphal: fix readiness for test motor mode

* [Cyphal] Fix dynamicsubscription, improve printinfo, enable MR-CANHUBK3 config

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Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>

boards/px4/fmu-v5/cyphal.px4board

@@ -4,3 +4,4 @@ CONFIG_DRIVERS_UAVCAN=n
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
 CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y
 CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_ESC_CONTROLLER=y