Na/mahony filter

[NArmistead]

Description

Adds mahony filter to makefile and sensor init before calibration.

Issue Link

Parent: mod

Testing

• Passes existing automated tests
• Automated tests modified
• Manual test performed

Include any relevant test artifacts here.

AI Disclosure (Required)

• Was an AI agent used to synthesize a significant portion of the submitted code?
• Do you understand that you are responsible for your contributions, regardless of whether they are generated or hand-written?

Scope of AI assistance:

<ex: Used to generate an inverse function for magnetometer calibration>

Please consider disclosing the specific tools you used (this part is optional):

• Model: <Model (i.e. ChatGPT 5.6 Sol)>
  • Thinking Level (if applicable):
  • Context Size (if applicable):
• Harness: <Harness (i.e. GitHub Copilot)>

Other

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Reviewer Checklist

Standards

• Follows FCF Architectural Standards
• Follows SDR Coding Standards
• Code complexity/function Size is minimized
• Code is testable
• Code is readable and commented properly
• License terms are respected

Accuracy

• Code implements the correct requirement (a.k.a. does the right thing)
• Code is logically correct (a.k.a. does the thing right)

Error Handling

• Potentially unsafe functions return a status code
• Error returns properly handled
• Fail-fast errors are only thrown when unsafe to continue software execution
• Debug errors are thrown for exceptions where execution should still continue (to be noticed during development)

Memory

• Stack allocated memory is scoped correctly
• Heap allocated memory is not used
• Statically/Globally allocated memory is minimized except when necessary
• Pointers are used correctly
• Concurrent access has been considered (especially by/from interrupt service routines)

Performance

• Rate limiters are respected
• Busy waiting is avoided in performance sensitive code
• "Delay" calls are not used in performance sensitive code
• If performance is negatively impacted, a justification is provided and the impact is quantified

[ETSells]

hehehe... yup!