OpenZFS 7743 - per-vdev-zaps init path for upgrade

Authored by: Paul Dagnelie <[email protected]>
Reviewed by: Matt Ahrens <[email protected]>
Reviewed by: Pavel Zakharov <[email protected]>
Reviewed by: George Wilson <[email protected]>
Reviewed by: Don Brady <[email protected]>
Reviewed-by: Brian Behlendorf <[email protected]>
Reviewed-by: Joe Stein <[email protected]>
Ported-by: Don Brady <[email protected]>

When loading a pool that had been created before the existance of
per-vdev zaps, on a system that knows about per-vdev zaps, the
per-vdev zaps will not be allocated and initialized.

This appears to be because the logic that would have done so, in
spa_sync_config_object(), is not reached under normal operation. It is
only reached if spa_config_dirty_list is non-empty.

The fix is to add another `AVZ_ACTION_` enum that will allow this code
to be reached when we detect that we're loading an old pool, even when
there are no dirty configs.

OpenZFS-issue: https://www.illumos.org/issues/7743
OpenZFS-commit: https://github.com/openzfs/openzfs/commit/e2d29d0
Closes #5582 

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