problem: previously when connecting power to Power 1, commander refused
to arm (no power source error), and when connecting to Power 2, arming
works, but power consumption was not measured (& shown in QGC).
Swapping Brick1 with Brick2 makes sure both works when connecting to
power 1.

Ideally we will have support for both power sources (including fail-over)

This enables control loops that are sensitive to vertical velocity offsets to use a vertical velocity that is kinematically consistent with the vertical position.

Adds interface for vertical position derivative

fixes a wrong index for _mag_device_id: previously, driver_index was used
(the CAL_MAG param index), but the correct index is the uorb topic
instance.

Fixes #7421

Tested with Pixracer and Zubax GNSS2.0

A recent change removed the command forwarding required for VTOL transitions. This change brings this back.

Partially reverts https://github.com/PX4/Firmware/pull/7249

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Because it's a baro driver, not a mag.

With this we don't have to use the ioctl MAGIOCGEXTERNAL, which does not
work on POSIX (eg. RPi).

Problem: _mag_device_id is used to get the correct rotation matrix for each
mag. But on POSIX, _mag_device_id was always 0, leading to invalid rotation
matrices.
This resulted in stale mag error messages (rot matrix=0 ==> mag data=0).
_mag_device_id was 0 because there are no /dev/magX devices (eg. on RPi),
thus the mag driver could not be opened.

This patch does: get the device id from the uorb topic instead. We still
need the device handle on certain platforms to apply the calibration params
and to check if the mag is internal or external.

Problem left: on POSIX, the check for external mag does not work.

the 'continue' continues with the inner loop, whereas the outer loop is
responsible for opening the handle. Thus the inner loop needs to keep it
open.

allows setting gps origin via ENV variable

Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>

Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>

Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>

Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>