update ecl/EKF with improved covariance prediction stability and change default IMU integration period 4000 us -> 2500 us

- bring in PX4/ecl#795 "EKF: Improve covariance prediction stability"
    - the ecl/EKF filter update period has changed from 8 ms to 10 ms
 - change default integration period 4000 us -> 2500 us (aligns with new EKF filter update period)

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -302,7 +302,7 @@ void ICM20602::ConfigureGyro()
 void ICM20602::ConfigureSampleRate(int sample_rate)
 {
 	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1 kHz
+		sample_rate = 800; // default to 800 Hz
 	}
 
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER

src/drivers/imu/invensense/icm20602/ICM20602.hpp

@@ -155,7 +155,7 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
 

src/drivers/imu/invensense/icm20608g/ICM20608G.cpp

@@ -315,7 +315,7 @@ void ICM20608G::ConfigureGyro()
 void ICM20608G::ConfigureSampleRate(int sample_rate)
 {
 	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1 kHz
+		sample_rate = 800; // default to 800 Hz
 	}
 
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER

src/drivers/imu/invensense/icm20608g/ICM20608G.hpp

@@ -158,7 +158,7 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
 

src/drivers/imu/invensense/icm20649/ICM20649.cpp

@@ -317,7 +317,7 @@ void ICM20649::ConfigureGyro()
 void ICM20649::ConfigureSampleRate(int sample_rate)
 {
 	if (sample_rate == 0) {
-		sample_rate = 1000; // default to ~1 kHz
+		sample_rate = 800; // default to ~800 Hz
 	}
 
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER

src/drivers/imu/invensense/icm20649/ICM20649.hpp

@@ -169,7 +169,7 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
 

src/drivers/imu/invensense/icm20689/ICM20689.cpp

@@ -315,7 +315,7 @@ void ICM20689::ConfigureGyro()
 void ICM20689::ConfigureSampleRate(int sample_rate)
 {
 	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1 kHz
+		sample_rate = 800; // default to 800 Hz
 	}
 
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER

src/drivers/imu/invensense/icm20689/ICM20689.hpp

@@ -158,7 +158,7 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
 

src/drivers/imu/invensense/icm40609d/ICM40609D.cpp

@@ -308,7 +308,7 @@ void ICM40609D::ConfigureGyro()
 void ICM40609D::ConfigureSampleRate(int sample_rate)
 {
 	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1 kHz
+		sample_rate = 800; // default to 800 Hz
 	}
 
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER

src/drivers/imu/invensense/icm40609d/ICM40609D.hpp

@@ -158,7 +158,7 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
 

src/drivers/imu/invensense/icm42688p/ICM42688P.cpp

@@ -310,7 +310,7 @@ void ICM42688P::ConfigureGyro()
 void ICM42688P::ConfigureSampleRate(int sample_rate)
 {
 	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1 kHz
+		sample_rate = 800; // default to 800 Hz
 	}
 
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER

src/drivers/imu/invensense/icm42688p/ICM42688P.hpp

@@ -158,7 +158,7 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
 

src/drivers/imu/invensense/mpu6000/MPU6000.cpp

@@ -310,7 +310,7 @@ void MPU6000::ConfigureGyro()
 void MPU6000::ConfigureSampleRate(int sample_rate)
 {
 	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1 kHz
+		sample_rate = 800; // default to 800 Hz
 	}
 
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER

src/drivers/imu/invensense/mpu6000/MPU6000.hpp

@@ -155,7 +155,7 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
 

src/drivers/imu/invensense/mpu6500/MPU6500.cpp

@@ -310,7 +310,7 @@ void MPU6500::ConfigureGyro()
 void MPU6500::ConfigureSampleRate(int sample_rate)
 {
 	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1 kHz
+		sample_rate = 800; // default to 800 Hz
 	}
 
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER

src/drivers/imu/invensense/mpu6500/MPU6500.hpp

@@ -155,7 +155,7 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
 

src/drivers/imu/invensense/mpu9250/MPU9250.cpp

@@ -343,7 +343,7 @@ void MPU9250::ConfigureGyro()
 void MPU9250::ConfigureSampleRate(int sample_rate)
 {
 	if (sample_rate == 0) {
-		sample_rate = 1000; // default to 1 kHz
+		sample_rate = 800; // default to 800 Hz
 	}
 
 	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER

src/drivers/imu/invensense/mpu9250/MPU9250.hpp

@@ -167,7 +167,7 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};