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compass: mag_learn fits the offsets against the attitude while the GSF heading is usable, and learns mag_yaw_trim - #12160

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MrScothh wants to merge 12 commits into

iNavFlight:maintenance-10.xfrom

MrScothh:feature/mag-learn-gsf

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compass: mag_learn fits the offsets against the attitude while the GSF heading is usable, and learns mag_yaw_trim#12160
MrScothh wants to merge 12 commits into
iNavFlight:maintenance-10.xfrom
MrScothh:feature/mag-learn-gsf

Commits on Oct 8, 2026
- blackbox: declare up to 12 motors in the log header
  MrScothh
  committed
  dbde203
Commits on Oct 9, 2026
- blackbox: slow-frame fields can carry a condition
  MrScothh
  committed
  36b7aa6
Commits on Oct 10, 2026
- compass: learn the offsets in flight (mag_learn)
  MrScothh
  committed
  d26d41f
Commits on Oct 14, 2026
- gsf: yaw from GPS velocity and the IMU, without the compass
  MrScothh
  committed
  3d980da
- gsf: run it in flight on INAV's attitude, log it to the blackbox
  MrScothh
  committed
  8900970
Commits on Oct 15, 2026
- gsf: measure the GPS delay, flag inconsistency, feed the AHRS (ahrs_gsf_yaw)
  MrScothh
  committed
  590346d
Commits on Oct 17, 2026
- compass: mag_learn fits the offsets against the attitude, and learns mag_yaw_trim
  MrScothh
  committed
  c666478
Commits on Oct 18, 2026