Estimate mag/accel noise and adjust gain automatically

[kylecorry31]

It should be possible to estimate the noise of the mag/accel by comparing it to the gyro. This can be used to determine how much to trust the mag/accel to auto tune the fused sensor. The tuning should be saved periodically and restored when the sensor is started back up.

Another option would be to have a calibration process - leave phone flat on a table to estimate noise.

[kylecorry31]

This may also be used to estimate the heading accuracy.