PX4/Firmware — pull request #344 by DrTon (2013-07-25 19:01:50+00:00)
Title: Integrate accel and gyro in sensors app.

Integrate accel and gyro in sensors app and publish output at 200Hz. Don't limit rate for sensors_combined topic in attitude_estimator_ekf.

Profit: 8% of freed CPU when running only sensors and attitude_estimator_ekf apps.

TODO
- Raw accel and gyro values not integrated (not used anywhere, maybe to remove it?)
- Output may have a bit lower rate, improve rate limiting
- Not normalized integrals stored in output struct, normalizing only before publishing. Is it safe?
- Direct access to accel and gyro drivers instead of listening via uORB can reduce CPU usage by ~2-3% (or not?)