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Jacob Dahl
ab59b0bcb8
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).