sensors: move mag aggregation to new VehicleMagnetometer WorkItem

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

src/modules/sensors/sensor_params_mag.c

@@ -62,3 +62,32 @@ PARAM_DEFINE_INT32(CAL_MAG_PRIME, 0);
  * @group Sensors
  */
 PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
+
+/**
+ * Type of magnetometer compensation
+ *
+ * @value 0 Disabled
+ * @value 1 Throttle-based compensation
+ * @value 2 Current-based compensation (battery_status instance 0)
+ * @value 3 Current-based compensation (battery_status instance 1)
+ *
+ * @category system
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG_COMP_TYP, 0);
+
+/**
+ * Magnetometer max rate.
+ *
+ * Magnetometer data maximum publication rate. This is an upper bound,
+ * actual magnetometer data rate is still dependant on the sensor.
+ *
+ * @min 1
+ * @max 200
+ * @group Sensors
+ * @unit Hz
+ *
+ * @reboot_required true
+ *
+ */
+PARAM_DEFINE_FLOAT(SENS_MAG_RATE, 50.0f);