sensors: compute and publish vehicle_angular_acceleration

- introduces parameter IMU_DGYRO_CUTOFF to configure the angular acceleration low pass filter
 - the angular acceleration is computed by differentiating angular velocity after the notch filter (IMU_GYRO_NF_FREQ & IMU_GYRO_NF_BW) is applied

Co-authored-by: Julien Lecoeur <jlecoeur@users.noreply.github.com>

msg/CMakeLists.txt

@@ -135,6 +135,7 @@ set(msg_files
 	ulog_stream_ack.msg
 	vehicle_acceleration.msg
 	vehicle_air_data.msg
+	vehicle_angular_acceleration.msg
 	vehicle_angular_velocity.msg
 	vehicle_attitude.msg
 	vehicle_attitude_setpoint.msg

msg/tools/uorb_rtps_message_ids.yaml

@@ -277,6 +277,8 @@ rtps:
     id: 123
   - msg: vehicle_imu
     id: 124
+  - msg: vehicle_angular_acceleration
+    id: 125
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150

msg/vehicle_angular_acceleration.msg

@@ -0,0 +1,5 @@
+
+uint64 timestamp        # time since system start (microseconds)
+uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
+
+float32[3] xyz          # angular acceleration about X, Y, Z body axis in rad/s^2,

msg/vehicle_angular_velocity.msg

@@ -1,7 +1,6 @@
 
-uint64 timestamp	# time since system start (microseconds)
-
-uint64 timestamp_sample	# the timestamp of the raw data (microseconds)
+uint64 timestamp        # time since system start (microseconds)
+uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
 
 float32[3] xyz		# Bias corrected angular velocity about X, Y, Z body axis in rad/s