sensors: create vehicle_angular_velocity module (#12596)

* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl

msg/CMakeLists.txt

@@ -123,6 +123,7 @@ set(msg_files
 	ulog_stream.msg
 	ulog_stream_ack.msg
 	vehicle_air_data.msg
+	vehicle_angular_velocity.msg
 	vehicle_attitude.msg
 	vehicle_attitude_setpoint.msg
 	vehicle_command.msg

msg/rate_ctrl_status.msg

@@ -1,10 +1,5 @@
 uint64 timestamp		# time since system start (microseconds)
 
-# rates used by the controller
-float32 rollspeed		# Bias corrected angular velocity about X body axis in rad/s
-float32 pitchspeed		# Bias corrected angular velocity about Y body axis in rad/s
-float32 yawspeed		# Bias corrected angular velocity about Z body axis in rad/s
-
 # rate controller integrator status
 float32 rollspeed_integ
 float32 pitchspeed_integ

msg/tools/uorb_rtps_message_ids.yaml

@@ -198,6 +198,8 @@ rtps:
     id: 85
   - msg: vehicle_air_data
     id: 86
+  - msg: vehicle_angular_velocity
+    id: 134
   - msg: vehicle_attitude
     id: 87
     send: true
@@ -279,6 +281,9 @@ rtps:
   - msg: fw_virtual_attitude_setpoint
     id: 127
     alias: vehicle_attitude_setpoint
+  - msg: vehicle_angular_velocity_groundtruth
+    id: 135
+    alias: vehicle_angular_velocity
   - msg: vehicle_attitude_groundtruth
     id: 128
     alias: vehicle_attitude

msg/vehicle_angular_velocity.msg

@@ -0,0 +1,8 @@
+
+uint64 timestamp	# time since system start (microseconds)
+
+uint64 timestamp_sample	# the timestamp of the raw data (microseconds)
+
+float32[3] xyz		# Bias corrected angular velocity about X, Y, Z body axis in rad/s
+
+# TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth

msg/vehicle_attitude.msg

@@ -2,10 +2,6 @@
 
 uint64 timestamp		# time since system start (microseconds)
 
-float32 rollspeed		# Bias corrected angular velocity about X body axis in rad/s
-float32 pitchspeed		# Bias corrected angular velocity about Y body axis in rad/s
-float32 yawspeed		# Bias corrected angular velocity about Z body axis in rad/s
-
 float32[4] q			# Quaternion rotation from NED earth frame to XYZ body frame
 float32[4] delta_q_reset 	# Amount by which quaternion has changed during last reset
 uint8 quat_reset_counter	# Quaternion reset counter