static void send_geo_mag(struct transport_tx *trans, struct link_device *dev)
{
  pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
                        &ahrs_float_inv.mag_h.x,
                        &ahrs_float_inv.mag_h.y,
                        &ahrs_float_inv.mag_h.z, &ahrs_finv_id);
}
static void send_geo_mag(struct transport_tx *trans, struct link_device *dev) {
  struct FloatVect3 h_float;
  h_float.x = MAG_FLOAT_OF_BFP(ahrs_impl.mag_h.x);
  h_float.y = MAG_FLOAT_OF_BFP(ahrs_impl.mag_h.y);
  h_float.z = MAG_FLOAT_OF_BFP(ahrs_impl.mag_h.z);
  pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
                        &h_float.x, &h_float.y, &h_float.z);
}
static void send_geo_mag(struct transport_tx *trans, struct link_device *dev)
{
  pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
                        &ahrs_mlkf.mag_h.x, &ahrs_mlkf.mag_h.y, &ahrs_mlkf.mag_h.z);
}