new Ignition Gazebo simulation interface architecture (#20057)

- much simpler direct interface using Ignition Transport 
 - in tree models and worlds
 - control allocation output configuration, no more magic actuator mapping to mavlink and back
 - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible)

Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>

src/modules/sensors/vehicle_angular_velocity/CMakeLists.txt

@@ -36,7 +36,11 @@ px4_add_library(vehicle_angular_velocity
 	VehicleAngularVelocity.hpp
 )
 
-target_compile_options(vehicle_angular_velocity PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(vehicle_angular_velocity
+	PRIVATE
+		${MAX_CUSTOM_OPT_LEVEL}
+		#-DDEBUG_BUILD
+)
 
 target_link_libraries(vehicle_angular_velocity
 	PRIVATE

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -112,7 +112,9 @@ bool VehicleAngularVelocity::UpdateSampleRate()
 	}
 
 	// calculate sensor update rate
-	if ((sample_rate_hz > 0) && PX4_ISFINITE(sample_rate_hz) && (publish_rate_hz > 0) && PX4_ISFINITE(publish_rate_hz)) {
+	if (PX4_ISFINITE(sample_rate_hz) && (sample_rate_hz > 10) && (sample_rate_hz < 10'000)
+	    && PX4_ISFINITE(publish_rate_hz) && (publish_rate_hz > 0)
+	   ) {
 		// check if sample rate error is greater than 1%
 		const bool sample_rate_changed = (fabsf(sample_rate_hz - _filter_sample_rate_hz) / sample_rate_hz) > 0.01f;
 

src/modules/sensors/vehicle_imu/CMakeLists.txt

@@ -35,5 +35,11 @@ px4_add_library(vehicle_imu
 	VehicleIMU.cpp
 	VehicleIMU.hpp
 )
-target_compile_options(vehicle_imu PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+
+target_compile_options(vehicle_imu
+	PRIVATE
+		${MAX_CUSTOM_OPT_LEVEL}
+		#-DDEBUG_BUILD
+)
+
 target_link_libraries(vehicle_imu PRIVATE px4_work_queue sensor_calibration)