init adjustments to ensure used topics are advertised early (primarily for logging)

- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)

src/modules/control_allocator/ControlAllocator.cpp

@@ -54,6 +54,11 @@ ControlAllocator::ControlAllocator() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {
+	_control_allocator_status_pub.advertise();
+	_actuator_motors_pub.advertise();
+	_actuator_servos_pub.advertise();
+	_actuator_servos_trim_pub.advertise();
+
 	for (int i = 0; i < MAX_NUM_MOTORS; ++i) {
 		char buffer[17];
 		snprintf(buffer, sizeof(buffer), "CA_R%u_SLEW", i);