sensors/vehicle_angular_velocity: properly handle filter reset on FIFO data scale changes

For the sake of efficiency (at 8 kHz) all filtering is performed on the raw data before the calibration and rotation is applied to only the final output. As a result we have to be a bit more careful when switching between sensors or in cases where the gyro scale factor changes (eg icm42688p 20 bit data rescaled to fit in int16 output).

src/lib/drivers/accelerometer/PX4Accelerometer.cpp

@@ -93,6 +93,22 @@ void PX4Accelerometer::set_device_type(uint8_t devtype)
 	_device_id = device_id.devid;
 }
 
+void PX4Accelerometer::set_scale(float scale)
+{
+	if (fabsf(scale - _scale) > FLT_EPSILON) {
+		// rescale last sample on scale change
+		float rescale = _scale / scale;
+
+		for (auto &s : _last_sample) {
+			s = roundf(s * rescale);
+		}
+
+		_scale = scale;
+
+		UpdateClipLimit();
+	}
+}
+
 void PX4Accelerometer::update(const hrt_abstime &timestamp_sample, float x, float y, float z)
 {
 	// Apply rotation (before scaling)