InvenSense MPU9250 move to PX4Accelerometer and PX4Gyroscope helpers

[dagar]

No description provided.

[dagar]

Still messy, but it's getting under control. The AK8963 i2c passthrough case should probably be extracted entirely. Saves about 2.8 KB of flash.

@mcsauder @dakejahl care to do a quick review?

[dagar]

Benchtested on a pixracer and accel/gyro/mag data is identical to master.

@PX4/testflights please give this PR a quick sanity flight on anything with an mpu9250 (pixracer, pixhawk2, pixhawk 3 pro) with SDLOG_PROFILE "Sensor comparison" enabled.

[jorge789]

Tested on PixRacer V4: With SDLOG_PROFILE "Sensor comparison" enabled.

Flight Card 1

Modes Tested:
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.

Procedure:
Arm in position mode, check take off behavior (Vehicle should stay on the ground as long as the throttle stick is at the middle or below, and start to ascend smoothly as long as throttle stick as above the middle.), the land and disarm.
Same procedure was repeated with Altitude and Stabilized mode.

Notes:
No issues were noted, good flight in general.

Flight Card 2

Modes Tested
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint see landing behavior.

Note:
No issues were noted, good flight in general.

Flight Card 3

Modes Tested
Position Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint see landing behavior.

Note:
No issues were noted, good flight in general.

Logs:

Flight card 1: https://review.px4.io/plot_app?log=30e0042a-1bc7-4ba2-a93e-85a451d1823d

Flight card 2: https://review.px4.io/plot_app?log=06e65031-e991-453f-94a5-d324faa273ee

Flight card 3: https://review.px4.io/plot_app?log=dfef5170-948c-48ac-8e43-b8226b5285a2

Tested on Pixhawk 2 Cube V3: With SDLOG_PROFILE "Sensor comparison" enabled.

Flight card 1: https://review.px4.io/plot_app?log=fd47eac6-5d98-44bc-90d5-8d7f7afb1344

Flight card 2: https://review.px4.io/plot_app?log=2c6b22ca-a54b-4f99-b63f-1c195c3007a6

Flight card 3: https://review.px4.io/plot_app?log=f72d5ef8-6cd4-4af4-a286-07672cf9afb2

[Junkim3DR]

Tested on Pixhawk Pro v4

Modes Tested

• Position Mode: Good.
• Altitude Mode: Good.
• Stabilized Mode: Good.
• Mission Plan Mode (Automated): Good.
• Failsafe RTL (Return To Land):

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceeds to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint turn off RC to trigger Failsafe RTL and see landing behavior.

Notes
No issues noted good flight in general.

Log

• https://review.px4.io/plot_app?log=820d2633-98ed-48dc-8564-a8ddd7f41d3d

[dagar]

Comments addressed and rebased.

[dagar]

Verified the data (accel, gyro, mag) and metadata (device id, scaling, etc) one more time and it's consistent with master.