IMU: parameterize IMU integration time (IMU_INTEG_RATE)

- default integration rate now 200 Hz (5000 us interval)
 - set update rate for all drivers and simulators using PX4Accelerometer/PX4Gyroscope

src/drivers/imu/adis16448/ADIS16448.cpp

@@ -115,6 +115,9 @@ bool ADIS16448::reset()
 		return false;
 	}
 
+	_px4_accel.set_update_rate(_sample_rate);
+	_px4_gyro.set_update_rate(_sample_rate);
+
 	// Set gyroscope scale to default value.
 	//if (!set_gyro_dyn_range(GYRO_INITIAL_SENSITIVITY)) {
 	//	return false;

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -69,8 +69,10 @@ ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
 #endif // GPIO_SPI1_RESET_ADIS16477
 
 	_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB
+	_px4_accel.set_update_rate(ADIS16477_DEFAULT_RATE);
 
 	_px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB
+	_px4_gyro.set_update_rate(ADIS16477_DEFAULT_RATE);
 }
 
 ADIS16477::~ADIS16477()

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -84,6 +84,9 @@ ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
 	// Configure hardware reset line
 	px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16497);
 #endif // GPIO_SPI1_RESET_ADIS16497
+
+	_px4_accel.set_update_rate(ADIS16497_DEFAULT_RATE);
+	_px4_gyro.set_update_rate(ADIS16497_DEFAULT_RATE);
 }
 
 ADIS16497::~ADIS16497()

src/drivers/imu/bma180/bma180.cpp

@@ -182,6 +182,7 @@ BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
 	_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read"))
 {
+	_px4_accel.set_update_rate(1000);
 }
 
 BMA180::~BMA180()

src/drivers/imu/bmi055/BMI055_accel.cpp

@@ -54,6 +54,7 @@ BMI055_accel::BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path
 	_duplicates(perf_alloc(PC_COUNT, "bmi055_accel_duplicates")),
 	_got_duplicate(false)
 {
+	_px4_accel.set_update_rate(BMI055_ACCEL_DEFAULT_RATE);
 }
 
 BMI055_accel::~BMI055_accel()

src/drivers/imu/bmi055/BMI055_gyro.cpp

@@ -57,6 +57,7 @@ BMI055_gyro::BMI055_gyro(I2CSPIBusOption bus_option, int bus, const char *path_g
 	_bad_transfers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_transfers")),
 	_bad_registers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_registers"))
 {
+	_px4_gyro.set_update_rate(BMI055_GYRO_DEFAULT_RATE);
 }
 
 BMI055_gyro::~BMI055_gyro()

src/drivers/imu/bmi088/BMI088_accel.cpp

@@ -63,6 +63,7 @@ BMI088_accel::BMI088_accel(I2CSPIBusOption bus_option, int bus, const char *path
 	_duplicates(perf_alloc(PC_COUNT, "bmi088_accel_duplicates")),
 	_got_duplicate(false)
 {
+	_px4_accel.set_update_rate(BMI088_ACCEL_DEFAULT_RATE);
 }
 
 BMI088_accel::~BMI088_accel()

src/drivers/imu/bmi088/BMI088_gyro.cpp

@@ -65,6 +65,7 @@ BMI088_gyro::BMI088_gyro(I2CSPIBusOption bus_option, int bus, const char *path_g
 	_bad_transfers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_transfers")),
 	_bad_registers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_registers"))
 {
+	_px4_gyro.set_update_rate(BMI088_GYRO_DEFAULT_RATE);
 }
 
 BMI088_gyro::~BMI088_gyro()

src/drivers/imu/bmi160/bmi160.cpp

@@ -64,6 +64,7 @@ BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
 	_reset_retries(perf_alloc(PC_COUNT, MODULE_NAME":reset retries")),
 	_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicates"))
 {
+	_px4_gyro.set_update_rate(BMI160_GYRO_DEFAULT_RATE);
 }
 
 BMI160::~BMI160()

src/drivers/imu/fxas21002c/FXAS21002C.cpp

@@ -75,6 +75,7 @@ FXAS21002C::FXAS21002C(device::Device *interface, I2CSPIBusOption bus_option, in
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
 	_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicate reading"))
 {
+	_px4_gyro.set_update_rate(FXAS21002C_DEFAULT_RATE);
 }
 
 FXAS21002C::~FXAS21002C()

src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp

@@ -66,6 +66,8 @@ FXOS8701CQ::FXOS8701CQ(device::Device *interface, I2CSPIBusOption bus_option, in
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad reg")),
 	_accel_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": acc dupe"))
 {
+	_px4_accel.set_update_rate(FXOS8701C_ACCEL_DEFAULT_RATE);
+
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
 	_px4_mag.set_scale(0.001f);
 #endif

src/drivers/imu/l3gd20/L3GD20.cpp

@@ -45,6 +45,7 @@ L3GD20::L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotati
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
 	_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": dupe"))
 {
+	_px4_gyro.set_update_rate(L3GD20_DEFAULT_RATE);
 }
 
 L3GD20::~L3GD20()

src/drivers/imu/lsm303d/LSM303D.cpp

@@ -127,6 +127,7 @@ LSM303D::reset()
 
 	accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
 	accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);
+	_px4_accel.set_update_rate(LSM303D_ACCEL_DEFAULT_RATE);
 
 	// we setup the anti-alias on-chip filter as 50Hz. We believe
 	// this operates in the analog domain, and is critical for

src/drivers/imu/mpu6000/MPU6000.cpp

@@ -160,6 +160,8 @@ int MPU6000::reset()
 
 	// SAMPLE RATE
 	_set_sample_rate(1000);
+	_px4_accel.set_update_rate(1000);
+	_px4_gyro.set_update_rate(1000);
 	px4_usleep(1000);
 
 	_set_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ);

src/drivers/imu/mpu9250/mpu9250.cpp

@@ -189,6 +189,8 @@ MPU9250::reset_mpu()
 
 	// SAMPLE RATE
 	_set_sample_rate(_sample_rate);
+	_px4_accel.set_update_rate(_sample_rate);
+	_px4_gyro.set_update_rate(_sample_rate);
 
 	_set_dlpf_filter(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ);