Add magnetic heading as debug and magnetic declination for the Mahony filter (#13073)

Add magnetic heading as debug and magnetic declination for the Mahony filter (#13073)

* Add mag heading to GPS Rescue heading debug

* Roll and pitch compensated magnetic yaw

* Changes according to PR comments

* Encapsulate yawMag calculations

* Corrected naming

* Changes according to PR comments

* Changes so that Checks don't fail

* Added PARAM_NAME list

* Changes so that Checks don't fail

* Changes according to PR comments

* Update src/main/fc/parameter_names.h

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* Changes according to PR comments

* 200Hz compass task

* fix wait status flag

* increase default ODR of HMC5883L to 75Hz

* fix spikes in MagYaw debug by re-calc only on new data

---------

Co-authored-by: ctzsnooze <chris.thompson@sydney.edu.au>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>