Add support for barometer position compensation

[ES-Alexander]

Feature request

Is your feature request related to a problem? Please describe.
We have sensor position offset compensation available for adjusting the perceived center of control, but the feature doesn't exist for the barometer. That means altitudes are always focused around the barometer position, which may not be possible to have near the IMU or center of mass (e.g. in Sub vehicles the barometer must be external to the electronics enclosure), so either forces the center of control to be configured to where the barometer is, or reduces control and telemetry coherence by failing to account for the separation.

Describe the solution you'd like
A set of offset parameters for the connected barometers, to allow compensating for their position offsets.

Describe alternatives you've considered
It is possible to use the barometer position as the reference point everything else is considered offset relative to, but that's arbitrarily decided by hardware constraints, and may result in unintuitive control.

Platform
[x] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ ] Rover
[x] Submarine

Additional context
This is a common setup for Sub (and could be similar for planes) - barometer offsets are relevant for surface and bottom awareness/avoidance, as well as where the vehicle actually sits when maintaining an altitude/depth, especially while pitched (e.g. if conducting a survey with a forward scanning/imaging sonar):

The center of control is generally desired to be at the center of mass (or potentially the point of vision), and it's important to data accuracy to have a well-defined reference point that collected data is relative to.

[ahmedmsalah99]

I am going to work on this. I am thinking it will be useful to add simulation parameters for simulation position offset for the barometer. Should this be included in this issue or on a different one ?

[ES-Alexander]

I am thinking it will be useful to add simulation parameters for simulation position offset for the barometer. Should this be included in this issue or on a different one ?

That seems less a concern of the Issue and more one of the implementation. Simulation parameters do seem useful and relevant, so if you're willing to implement the feature and include them as part of the same pull request then that at least makes sense to me.

That said, if someone wants to implement just the core functionality (with dedicated simulation features left for later) then that also seems ok to me at least, since it would be an improvement over the current situation, but in general it's preferable to have decent test coverage added together with features when it's possible to have that 🤷‍♂️ :-)