feat(control_allocator): expose cs_preflight_check_active in ControlAllocatorStatus

So that we know from logs if the torque setpoint topic is being used or
overridden by the preflight check.

msg/ControlAllocatorStatus.msg

@@ -18,5 +18,7 @@ int8[16] actuator_saturation            # Indicates actuator saturation status.
                                         # Note 1: actuator saturation does not necessarily imply that the thrust setpoint or the torque setpoint were not achieved.
                                         # Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.
 
-uint16 handled_motor_failure_mask        # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
-uint16 motor_stop_mask                   # Bitmaks of motors stopped by failure injection
+uint16 handled_motor_failure_mask       # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
+uint16 motor_stop_mask                  # Bitmaks of motors stopped by failure injection
+
+bool cs_preflight_check_active          # True while a control-surface preflight check (VEHICLE_CMD_ACTUATOR_GROUP_TEST) is overriding the torque setpoint or collective-tilt

src/modules/control_allocator/ControlAllocator.cpp

@@ -639,6 +639,7 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
 {
 	control_allocator_status_s control_allocator_status{};
 	control_allocator_status.timestamp = hrt_absolute_time();
+	control_allocator_status.cs_preflight_check_active = _cs_preflight_check.isActive();
 
 	// TODO: disabled motors (?)
 

src/modules/control_allocator/ControlSurfacePreflightCheck.hpp

@@ -59,6 +59,8 @@ public:
 	ControlSurfacePreflightCheck() = default;
 	~ControlSurfacePreflightCheck() = default;
 
+	bool isActive() const { return _running; }
+
 	/** Poll vehicle_command for a preflight-check request and start it if conditions allow. */
 	void handleCommand(hrt_abstime now, bool armed, bool is_tiltrotor);