control_allocator: Fixes for standard VTOL frames

- Add 'actuatorType()' to ActuatorEffectiveness
- Map outputs to uORB topics by type
- Fix incorrect number of outputs in StandardVTOL
- Fix 1050_standard_vtol_ctrlalloc airframe file

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -15,6 +15,22 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################
 
+if param compare SYS_CTRL_ALLOC 1
+then
+	#
+	# Start Control Allocator
+	#
+	control_allocator start
+
+	#
+	# Disable hover thrust estimator and prearming
+	# These features are currently incompatible with control allocation
+	#
+	# TODO: fix
+	#
+	param set MPC_USE_HTE 0
+fi
+
 airspeed_selector start
 
 vtol_att_control start