initial control allocation support

- control allocation module with multirotor, VTOL standard, and tiltrotor support
 - angular_velocity_controller
 - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>

ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt

@@ -43,4 +43,5 @@ px4_add_romfs_files(
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
 	vectored6dof_sitl.main.mix
+	tiltrotor_sitl_direct.main.mix
 )

ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl_direct.main.mix

@@ -0,0 +1,14 @@
+Mixer for quad tiltrotor (x motor configuration)
+================================================
+
+A: 0
+A: 1
+A: 2
+A: 3
+A: 4
+A: 5
+A: 6
+A: 7
+A: 8
+A: 9
+A: 10