feat(sensors): barometer thrust compensation with online estimator

Add propwash-induced barometer error compensation. Propellers create
static pressure changes at the baro sensor proportional to motor output.
Correction: baro_alt += SENS_BARO_PCOEF * mean_motor_output.

Thrust compensation in VehicleAirData uses a motor ring buffer (8
samples) with time-matched lookup against baro timestamp_sample.

BMP388 timestamp_sample corrected from read time to integration
midpoint (- measurement_time/2), eliminating 38ms baro-thrust lag.

Online estimator module (baro_thrust_estimator) uses a complementary
filter to isolate thrust-correlated baro error at 0.05Hz crossover, and
recursive least squares to identify gain K online. Saves to
SENS_BARO_PCOEF on disarm. Controlled by SENS_BAR_AUTOCAL bit 1.

SENS_BAR_AUTOCAL migrated from boolean to bitmask (bit 0: GNSS cal,
bit 1: thrust comp).

Includes offline calibration/validation tool
(Tools/baro_compensation/baro_thrust_calibration.py).

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -29,6 +29,13 @@ fi
 # Start Multicopter Position Controller.
 #
 mc_hover_thrust_estimator start
+
+# Bit 1 of SENS_BAR_AUTOCAL enables online thrust compensation (value > 1)
+if param greater -s SENS_BAR_AUTOCAL 1
+then
+	baro_thrust_estimator start
+fi
+
 flight_mode_manager start
 mc_pos_control start