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/modules/mavlink/mavlink_receiver.cpp

@@ -2196,6 +2196,9 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 
 			if (_px4_gyro == nullptr) {
 				PX4_ERR("PX4Gyroscope alloc failed");
+
+			} else {
+				_px4_gyro->set_update_rate(200); // TODO: measure actual
 			}
 		}
 
@@ -2213,6 +2216,9 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 
 			if (_px4_accel == nullptr) {
 				PX4_ERR("PX4Accelerometer alloc failed");
+
+			} else {
+				_px4_accel->set_update_rate(200); // TODO: measure actual
 			}
 		}
 

src/modules/sensors/vehicle_imu/imu_parameters.c

@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+* IMU integration rate.
+*
+* The rate at which raw IMU data is integrated to produce delta angles and delta velocities.
+*
+* @min 100
+* @max 1000
+* @unit Hz
+* @reboot_required true
+* @group Sensors
+*/
+PARAM_DEFINE_INT32(IMU_INTEG_RATE, 200);

src/modules/sih/sih.cpp

@@ -95,6 +95,8 @@ Sih::Sih() :
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": execution")),
 	_sampling_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sampling"))
 {
+	_px4_accel.set_update_rate(LOOP_INTERVAL);
+	_px4_gyro.set_update_rate(LOOP_INTERVAL);
 }
 
 void Sih::run()

src/modules/simulator/simulator.h

@@ -133,6 +133,9 @@ public:
 private:
 	Simulator() : ModuleParams(nullptr)
 	{
+		// current default
+		_px4_accel.set_update_rate(250);
+		_px4_gyro.set_update_rate(250);
 	}
 
 	~Simulator()