Calibrate magnetometer using UKF Online calibration of the magnetometer sensor using an UKF approach. It is required to redirect the magnetometer measurements to this module before using them in your estimation filters. In order to do that, define the mag id for your filter (for example AHRS_MLKF_MAG_ID for the mlkf ahrs filter) to MAG_CALIB_UKF_ID. For more information see TRICAL project page (https://www.github.com/sfwa/TRICAL).