Use barometer data for altitude hold

[vishwamartur]

Related to #89

Implement the use of barometer data for altitude/height hold.

• Process Barometer Measurements

  • Implement the processBarometerMeasurements function in sensors_mpu6050_hm5883L_ms5611.c to process barometer data from the MS5611 sensor.
  • Update the sensorsSetupSlaveRead function to configure the MS5611 sensor for reading pressure and temperature data.
  • Update the sensorsTask function to call processBarometerMeasurements when barometer data is available.

• Altitude Estimation

  • Update the positionEstimateInternal function in position_estimator_altitude.c to incorporate barometer data for altitude estimation.
  • Add a blending factor baroAlpha for barometer data in the selfState_s structure.

• Vertical Velocity Update

  • Update the positionUpdateVelocityInternal function in position_estimator_altitude.c to update the vertical velocity using barometer data.
  • Add a blending factor baroAlpha for barometer data in the selfState_s structure.

• Parameter Addition

  • Add a new parameter baroAlpha to the posEstAlt parameter group in position_estimator_altitude.c.

[leeebo]

Hi @vishwamartur , thanks for your contribution. This changes LGTM! Have you enabled the MS5611 and tested on the real hardware ?

[vishwamartur]

Thank you! The code has not been tested on real hardware yet. I will validate the code again and provide an update. We can sync up and conduct testing afterward.
@leeebo