HoverThrustEstimator: add a new single state estimator

with measurement noise auto-tuning

The purpose of this estimator is to improve land detection and vertical
velocity feedforward

Recovery strategy:
This is required when the setpoint suddenly changes in air or that the
EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic
Also, a lowpassed residual is used to estimate the steady-state value
and remove it when estimating the accel noise to avoid increasing the
accel noise when the redisual is caused by an offset.

src/modules/logger/logged_topics.cpp

@@ -61,6 +61,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("estimator_sensor_bias", 1000);
 	add_topic("estimator_status", 200);
 	add_topic("home_position");
+	add_topic("hover_thrust_estimate", 100);
 	add_topic("input_rc", 200);
 	add_topic("manual_control_setpoint", 200);
 	add_topic("mission");