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

src/modules/ekf2/ekf2_params.c

@@ -1430,3 +1430,15 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_GPS_H, 10.0f);
  * @boolean
  */
 PARAM_DEFINE_INT32(EKF2_MAG_CHECK, 0);
+
+/**
+ * Default value of true airspeed used in EKF-GSF AHRS calculation.
+ * If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.
+ *
+ * @group EKF2
+ * @min 0.0
+ * @unit m/s
+ * @max 100.0
+ * @decimal 1
+ */
+PARAM_DEFINE_FLOAT(EKF2_GSF_TAS, 15.0f);