WIP: online mag cal using UKF

msg/CMakeLists.txt

@@ -55,6 +55,7 @@ set(msg_files
 	ekf_gps_drift.msg
 	esc_report.msg
 	esc_status.msg
+	estimator_mag_cal.msg
 	estimator_innovations.msg
 	estimator_sensor_bias.msg
 	estimator_states.msg

msg/estimator_mag_cal.msg

@@ -0,0 +1,29 @@
+uint64 timestamp		# time since system start (microseconds)
+
+uint8 instance
+
+uint32 device_id                # unique device ID for the selected magnetometer
+
+float32[3] sample		# magnetic field in the NED board axis in Gauss
+
+float32[3] expected_field
+
+float32[3] calibrated_sample
+
+float32 calibrated_sample_magnitude
+
+float32 error
+
+float32 declination
+float32 inclination
+float32 mag_strength
+
+float32[3] bias_estimate
+float32[9] scale_estimate
+float32[3] bias_estimate_variance
+float32[9] scale_estimate_variance
+
+
+float32[3] diagonal_scale
+float32[3] offdiagonal_scale
+float32[3] offsets