add ms5837 driver

[xn365]

Please use PX4 Discuss or Slack to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

Describe problem solved by this pull request
A clear and concise description of the problem this proposed change will solve.
E.g. For this use case I ran into...

Describe your solution
A clear and concise description of what you have implemented.

Describe possible alternatives
A clear and concise description of alternative solutions or features you've considered.

Test data / coverage
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.

Additional context
Add any other related context or media.

[xn365]

Because of the hand slip, the following contents have been deleted：
in file "src/drivers/drv_sensor.h "
#define DRV_IMU_DEVTYPE_ICM42670P 0x2A
PLZ check.

[xn365]

Modify as recommended by Dagar.

[dagar]

There are some minor formatting errors causing CI to fail, but this otherwise looks good to go from my perspective.
https://github.com/PX4/PX4-Autopilot/pull/18213/checks?check_run_id=3568147845

Has this driver actually been tested underwater?

[xn365]

Has this driver actually been tested underwater?

Yes.
Ms5837 can be used in both air and water.

[xn365]

This drive only gives the absolute pressure reading of the sensor. If it is used in liquid, it is also necessary to calculate the water depth according to the initial conditions (liquid density, air pressure on the liquid surface, etc.).

[xn365]

Test: