simulator mavlink actuator limits (#15861)

using unified way to decide which output should be scale as rotor
fixed case that actuator that wasn't set (value 0 "PWM") results output of -3
make default actuator mode to set all actuator to range of -1 to +1
cleanups

src/modules/simulator/simulator.h

@@ -230,7 +230,7 @@ private:
 
 	static void *sending_trampoline(void *);
 
-	mavlink_hil_actuator_controls_t actuator_controls_from_outputs();
+	void actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *msg);
 
 
 	// uORB publisher handlers