Iris: add extra sensors to copter example

- Add air pressure sensor
- Add air speed sensor
- Add altimeter sensor
- Add magnetometer sensor
- Add navsat sensor

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

Author: srmainwaring

models/iris_with_standoffs/model.sdf

@@ -140,6 +140,29 @@
           </pbr>
         </material>
       </visual>
+ 
+      <!-- Additional sensors -->
+      <sensor name="air_pressure_sensor" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
+      <sensor name="air_speed_sensor" type="air_speed">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
+      <sensor name="altimeter_sensor" type="altimeter">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
+      <sensor name="magnetometer_sensor" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
+      <sensor name="navsat_sensor" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
+
     </link>
     <link name='imu_link'>
       <inertial>

worlds/iris_runway.sdf

@@ -20,9 +20,23 @@
     <plugin filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
+    <plugin filename="gz-sim-air-pressure-system"
+      name="gz::sim::systems::AirPressure">
+    </plugin>
+    <plugin filename="gz-sim-air-speed-system"
+      name="gz::sim::systems::AirSpeed">
+    </plugin>
+    <plugin filename="gz-sim-altimeter-system"
+      name="gz::sim::systems::Altimeter">
+    </plugin>
     <plugin filename="gz-sim-imu-system"
       name="gz::sim::systems::Imu">
     </plugin>
+    <plugin filename="gz-sim-magnetometer-system"
+      name="gz::sim::systems::Magnetometer">
+      <use_units_gauss>false</use_units_gauss>
+      <use_earth_frame_ned>false</use_earth_frame_ned>
+    </plugin>
     <plugin filename="gz-sim-navsat-system"
       name="gz::sim::systems::NavSat">
     </plugin>