sensors: move mag aggregation to new VehicleMagnetometer WorkItem

- purge all reminaing magnetometer IOCTL usage
 - mag calibration add off diagonal (soft iron) scale factors

msg/CMakeLists.txt

@@ -119,7 +119,8 @@ set(msg_files
 	sensor_gyro.msg
 	sensor_gyro_fifo.msg
 	sensor_mag.msg
-	sensor_preflight.msg
+	sensor_preflight_imu.msg
+	sensor_preflight_mag.msg
 	sensor_selection.msg
 	subsystem_info.msg
 	system_power.msg

msg/sensor_mag.msg

@@ -11,4 +11,4 @@ float32 temperature       # temperature in degrees celsius
 
 uint32 error_count
 
-bool  is_external	# if true the mag is external (i.e. not built into the board)
+bool is_external	# if true the mag is external (i.e. not built into the board)

msg/sensor_preflight_imu.msg

@@ -5,4 +5,3 @@
 uint64 timestamp # time since system start (microseconds)
 float32 accel_inconsistency_m_s_s # magnitude of maximum acceleration difference between IMU instances in (m/s/s).
 float32 gyro_inconsistency_rad_s # magnitude of maximum angular rate difference between IMU instances in (rad/s).
-float32 mag_inconsistency_angle # maximum angle between magnetometer instance field vectors in radians.

msg/sensor_preflight_mag.msg

@@ -0,0 +1,7 @@
+#
+# Pre-flight sensor check metrics.
+# The topic will not be updated when the vehicle is armed
+#
+uint64 timestamp # time since system start (microseconds)
+
+float32 mag_inconsistency_angle # maximum angle between magnetometer instance field vectors in radians.

msg/sensor_selection.msg

@@ -5,4 +5,3 @@
 uint64 timestamp		# time since system start (microseconds)
 uint32 accel_device_id		# unique device ID for the selected accelerometers
 uint32 gyro_device_id		# unique device ID for the selected rate gyros
-uint32 mag_device_id		# unique device ID for the selected magnetometer

msg/tools/uorb_rtps_message_ids.yaml

@@ -158,7 +158,7 @@ rtps:
     id: 67
   - msg: sensor_mag
     id: 68
-  - msg: sensor_preflight
+  - msg: sensor_preflight_imu
     id: 69
   - msg: sensor_selection
     id: 70
@@ -297,6 +297,8 @@ rtps:
     id: 132
   - msg: telemetry_heartbeat
     id: 133
+  - msg: sensor_preflight_mag
+    id: 134
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150

msg/vehicle_magnetometer.msg

@@ -1,3 +1,8 @@
-uint64 timestamp			# time since system start (microseconds)
 
-float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss
+uint64 timestamp            # time since system start (microseconds)
+
+uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
+
+uint32 device_id            # unique device ID for the selected magnetometer
+
+float32[3] magnetometer_ga  # Magnetic field in NED body frame, in Gauss