Update ecl to add ability to recover from bad magnetic yaw

* msg: Add EKF-GSF yaw estimator logging data
* ecl: update to version with EKF-GSF yaw estimator
* ekf2: Add param control and logging for EKF-GSF yaw estimator
* logger: Add logging for EKF-GSF yaw esimtator

msg/CMakeLists.txt

@@ -168,6 +168,7 @@ set(msg_files
 	vtol_vehicle_status.msg
 	wheel_encoders.msg
 	wind_estimate.msg
+	yaw_estimator_status.msg
 )
 
 set(deprecated_msgs

msg/tools/uorb_rtps_message_ids.yaml

@@ -299,6 +299,8 @@ rtps:
     id: 133
   - msg: orb_test_large
     id: 134
+  - msg: yaw_estimator_status
+    id: 135
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150

msg/yaw_estimator_status.msg

@@ -0,0 +1,7 @@
+uint64 timestamp	# time since system start (microseconds)
+float32 yaw_composite	# composite yaw from GSF (rad)
+float32 yaw_variance	# composite yaw variance from GSF (rad^2)
+float32[5] yaw		# yaw estimate for each model in the filter bank (rad)
+float32[5] innov_vn	# North velocity innovation for each model in the filter bank (m/s)
+float32[5] innov_ve	# East velocity innovation for each model in the filter bank (m/s)
+float32[5] weight	# weighting for each model in the filter bank