Initializing yaw orientation from magnetometer reading.

- added magnetometer biases (mag_bias/x and mag_bias/y) for hard-iron compensation.
- add two debug topics: imu/rpy/raw and imu/rpy/filtered. imu/rpy/raw can be used for computing mag. biases. imu/rpy/filtered topic is for user readability only. 
- added an option for tilt compensation and initializing yaw orientation from magnetometer reading.
I don't like the code duplication between this method and the `!initialized` block. It would be better to have a method like `computeRPY(ax, ay, az, mx, my, mz, &roll, &pitch, &yaw)`, which computes rpy. Then you could use that both in the `publishRawMsg` method and the `!initialized` block.