Make control allocation and actuator effectiveness a non-module-specific library

[Jaeyoung-Lim]

Solved Problem

When trying to implement a separate metric control allocation module, it seems that sharing the control allocation library seems like a sensible solution.

Solution

• Make ControlAllocation and ActuatorEffectiveness a library that can be shared across multiple modules
• Keep Vehicle Specific ActuatorEffectiveness implementation as part of control_allocator module and only keep the ActuatorEffectiveness base class in the library.

Changelog Entry

For release notes:

Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...

Test coverage

• Unit/integration test: ...
• Simulation/hardware testing logs: https://review.px4.io/

Context

• Cleanup done for this PR:Remove circular dependency if ControlAllocation and ActuatorEffectiveness #24195 Take 2: Cleanup circular dependencies ActuatorEffectiveness #24197