This Pull request is the first of a series of pull requests to make sure that modules such as Rotwing State and Rotwing Effectveess scheduling can be used by both the onleoop controller as well as a more conventional INDI cascaded controller.
This specific pull requests aims to solve:

1. Have shared modules which do not use actuator_pprz hardcoded references ( e.g. actuator_pprz[6] ) . This can be problematic as different actuator orders will not work.
2. Have a way to clearly specify how many actuators there are and what type of actuator they are (e.g. Real, Virtual, Passive and Other) so that variables such as "INDI_NUM_ACT" are not used outside of INDI files and cannot mistakely be assigned a wrong value.

With @dewagter we thought to revert back the controllers to assign commands to the commands[ ] array rather than actuator_pprz[ ]. Therefore, one would define a command per actuator to be controlled and use that in the command laws.
It would then be possible to make sure that the shared modules are always using the correct actuator index (e.g. commands[ROT_MECH])

I have also changed the gen_airframe file to add the attribute "actuator_type" to the commands in the airframe, and have counters for each sub-type. Then one can replace the hardcoded definitions such as "ANDI_NUM_ACT" or "INDI_NUM_ACT" with the gnerated definitions from the airframe (See how i have changed my oneloop controller). This is my first time writing in OCALM, the changes i made work but i am open to improvements.
This is what is generated from the airframe:

#define COMMAND_MOTOR_FRONT 0
#define COMMAND_MOTOR_RIGHT 1
#define COMMAND_MOTOR_BACK 2
#define COMMAND_MOTOR_LEFT 3
#define COMMAND_MOTOR_PUSHER 4
#define COMMAND_ROLL 5
#define COMMAND_PITCH 6
#define COMMAND_ROT_MECH 7
#define COMMAND_YAW 8
#define COMMAND_THRUST 9
#define COMMANDS_NB_OTHER 2
#define COMMANDS_NB_PASSIVE 1
#define COMMANDS_NB_VIRTUAL 2
#define COMMANDS_NB_REAL 5
#define COMMANDS_NB 10
#define COMMANDS_FAILSAFE {0,0,0,0,0,0,0,0,0,0}

An example commands section of an airframe would then look something like:

   <commands>
        <!-- Real actuators commands -->
        <axis name="MOTOR_FRONT"  actuator_type ="REAL" failsafe_value="0"/> <!-- IDX 0--> 
        <axis name="MOTOR_RIGHT"  actuator_type ="REAL" failsafe_value="0"/> <!-- IDX 1-->
        <axis name="MOTOR_BACK"   actuator_type ="REAL" failsafe_value="0"/> <!-- IDX 2-->
        <axis name="MOTOR_LEFT"   actuator_type ="REAL" failsafe_value="0"/> <!-- IDX 3-->
        <axis name="MOTOR_PUSHER" actuator_type ="REAL" failsafe_value="0"/> <!-- IDX 4-->
        <!-- Virtual actuators commands -->
        <axis name="ROLL"         actuator_type ="VIRTUAL" failsafe_value="0"/> <!-- ID X 5-->
        <axis name="PITCH"        actuator_type ="VIRTUAL" failsafe_value="0"/> <!-- IDX 6-->
        <!-- Passive actuators commands -->
        <axis name="ROT_MECH"     actuator_type ="PASSIVE" failsafe_value="0"/> <!-- IDX 7-->
        <!-- Legacy commands-->
        <axis name="YAW"          actuator_type ="OTHER" failsafe_value="0"/>
        <axis name="THRUST"       actuator_type ="OTHER" failsafe_value="0"/>
    </commands>

I have an airframe modified like this but I need my other PR (#3261) to be approved first.