sensors: move accel filtering to sensors/vehicle_acceleration

I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc. 

Later this mechanism will be used in a few areas
 - rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data
 - move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated
 - integrate raw gyro synchronized with optical flow measurements

src/modules/uORB/CMakeLists.txt

@@ -44,6 +44,7 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to plat
 			Publication.hpp
 			PublicationMulti.hpp
 			PublicationQueued.hpp
+			PublicationQueuedMulti.hpp
 			Subscription.cpp
 			Subscription.hpp
 			SubscriptionCallback.hpp

src/modules/uORB/PublicationQueuedMulti.hpp

@@ -0,0 +1,101 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file PublicationQueuedMulti.hpp
+ *
+ */
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <systemlib/err.h>
+#include <uORB/uORB.h>
+
+namespace uORB
+{
+
+/**
+ * Queued publication with queue length set as a message constant (ORB_QUEUE_LENGTH)
+ */
+template<typename T>
+class PublicationQueuedMulti
+{
+public:
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 */
+	PublicationQueuedMulti(const orb_metadata *meta, uint8_t priority = ORB_PRIO_DEFAULT) :
+		_meta(meta),
+		_priority(priority)
+	{}
+
+	~PublicationQueuedMulti()
+	{
+		//orb_unadvertise(_handle);
+	}
+
+	/**
+	 * Publish the struct
+	 * @param data The uORB message struct we are updating.
+	 */
+	bool publish(const T &data)
+	{
+		if (_handle != nullptr) {
+			return (orb_publish(_meta, _handle, &data) == PX4_OK);
+
+		} else {
+			int instance = 0;
+			orb_advert_t handle = orb_advertise_multi_queue(_meta, &data, &instance, _priority, T::ORB_QUEUE_LENGTH);
+
+			if (handle != nullptr) {
+				_handle = handle;
+				return true;
+			}
+		}
+
+		return false;
+	}
+
+protected:
+	const orb_metadata *_meta;
+
+	orb_advert_t _handle{nullptr};
+
+	const uint8_t _priority;
+};
+
+} // namespace uORB