ahrs_float_invariant

AHRS using invariant filter.

Configures
Name	Value	Description
USE_MAGNETOMETER	TRUE	set to FALSE to disable magnetometer
AHRS_ALIGNER_LED	1	LED number to indicate AHRS alignment, none to disable (default is board dependent)

Defines
Name	Value	Description
SEND_INVARIANT_FILTER		send INV_FILTER message for debugging
AHRS_FINV_IMU_ID	ABI_BROADCAST	ABI sender id of IMU to use
AHRS_FINV_MAG_ID	ABI_BROADCAST	ABI sender id of magnetometer to use

Depends