introduce sensor_gyro_control message for vehicle_angular_velocity (#12145)

msg/CMakeLists.txt

@@ -105,6 +105,7 @@ set(msg_files
 	sensor_combined.msg
 	sensor_correction.msg
 	sensor_gyro.msg
+	sensor_gyro_control.msg
 	sensor_mag.msg
 	sensor_preflight.msg
 	sensor_selection.msg

msg/sensor_gyro_control.msg

@@ -0,0 +1,11 @@
+
+# WARNING: Not recommend for custom development.
+#  This topic is part of an incremental refactoring of the sensor pipeline and will likely disappear post PX4 release v1.10
+
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
+
+uint64 timestamp	# time since system start (microseconds)
+
+uint64 timestamp_sample	# time the raw data was sampled (microseconds)
+
+float32[3] xyz		# filtered angular velocity in the board axis in rad/s

msg/tools/uorb_rtps_message_ids.yaml

@@ -258,6 +258,8 @@ rtps:
     id: 112
   - msg: vehicle_acceleration
     id: 113
+  - msg: sensor_gyro_control
+    id: 114
   # multi topics
   - msg: actuator_controls_0
     id: 120