save significant IMU bias changes learned by the EKF

* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>

src/lib/sensor_calibration/Accelerometer.hpp

@@ -84,6 +84,12 @@ public:
 		return _rotation * matrix::Vector3f{(data - _thermal_offset - _offset).emult(_scale)};
 	}
 
+	// Compute sensor offset from bias (board frame)
+	matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
+	{
+		return (_rotation.I() * bias).edivide(_scale) + _thermal_offset + _offset;
+	}
+
 	bool ParametersSave();
 	void ParametersUpdate();
 

src/lib/sensor_calibration/Gyroscope.hpp

@@ -88,6 +88,12 @@ public:
 		return (_rotation.I() * corrected_data) + _thermal_offset + _offset;
 	}
 
+	// Compute sensor offset from bias (board frame)
+	matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
+	{
+		return (_rotation.I() * bias) + _thermal_offset + _offset;
+	}
+
 	bool ParametersSave();
 	void ParametersUpdate();