logger: add raw FIFO high-rate IMU logging profiles

Minimum requirement to use: set IMU_GYRO_RATEMAX to 400.

Logging rate of a single topic: ~85 KB/s. If multiple should be logged,
a really good SD card has to be used.

src/modules/logger/logger.cpp

@@ -490,6 +490,19 @@ bool Logger::initialize_topics()
 		return false;
 	}
 
+	if ((sdlog_profile & SDLogProfileMask::RAW_IMU_ACCEL_FIFO) || (sdlog_profile & SDLogProfileMask::RAW_IMU_GYRO_FIFO)) {
+		// if we are logging high-rate FIFO, reduce the logging interval & increase process priority to avoid missing samples
+		PX4_INFO("Logging FIFO data: increasing task prio and logging rate");
+		_log_interval = 800;
+		sched_param param{};
+		param.sched_priority = SCHED_PRIORITY_ATTITUDE_CONTROL;
+		int ret = pthread_setschedparam(pthread_self(), SCHED_DEFAULT, &param);
+
+		if (ret != 0) {
+			PX4_ERR("pthread_setschedparam failed (%i)", ret);
+		}
+	}
+
 	delete[](_subscriptions);
 	_subscriptions = nullptr;