ekf2: publish GNSS, rng and EV height biases

msg/estimator_bias.msg

@@ -0,0 +1,13 @@
+uint64 timestamp                # time since system start (microseconds)
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+
+uint32 baro_device_id		# unique device ID for the sensor that does not change between power cycles
+float32 bias			# estimated barometric altitude bias (m)
+float32 bias_var		# estimated barometric altitude bias variance (m^2)
+
+float32 innov			# innovation of the last measurement fusion (m)
+float32 innov_var		# innovation variance of the last measurement fusion (m^2)
+float32 innov_test_ratio	# normalized innovation squared test ratio
+
+# TOPICS estimator_bias
+# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias