ST L3GD20 move to PX4Gyroscope helper

[dagar]

Untested.

[dagar]

Bench tested on a pixhawk and the data seems to be identical.

@PX4/testflights similar to #12079, can you give this a quick flight test on a pixhawk (3dr or mRo) and pixhawk 2 with SDLOG_PROFILE "Sensor comparison" enabled.

[jorge789]

Tested on Pixhawk 2 Cube V3 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=7e7f670e-f2a7-40fa-ae62-cc9bc5290842

Flight card 2: https://review.px4.io/plot_app?log=7ddfd832-2bc5-442f-9d65-8bedd37d1703

Flight card 3: https://review.px4.io/plot_app?log=fbca26ac-c781-4d4f-b252-2b986dbaa2a2

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

logs

Flight card 1: https://review.px4.io/plot_app?log=3648d3db-9c98-42e4-9c64-792198647933

Flight card 2: https://review.px4.io/plot_app?log=a5e48041-8a57-4aae-ac83-8727cf9c0462

Flight card 3: https://review.px4.io/plot_app?log=e7926aec-a90a-4f33-a871-f86826dff727

[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): Not returning after RC shutdown.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed 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=e31aa6cf-33dd-4259-84c8-3f1824ddb73e