sensors: create vehicle_acceleration module (#12597)

msg/CMakeLists.txt

@@ -122,6 +122,7 @@ set(msg_files
 	uavcan_parameter_value.msg
 	ulog_stream.msg
 	ulog_stream_ack.msg
+	vehicle_acceleration.msg
 	vehicle_air_data.msg
 	vehicle_angular_velocity.msg
 	vehicle_attitude.msg

msg/sensor_bias.msg

@@ -5,20 +5,10 @@
 
 uint64 timestamp		# time since system start (microseconds)
 
-float32 accel_x		# Bias corrected acceleration in body X axis (in m/s^2)
-float32 accel_y		# Bias corrected acceleration in body Y axis (in m/s^2)
-float32 accel_z		# Bias corrected acceleration in body Z axis (in m/s^2)
-
 # In-run bias estimates (subtract from uncorrected data)
 
-float32 gyro_x_bias		# X gyroscope in-run bias in body frame (rad/s, x forward)
-float32 gyro_y_bias		# Y gyroscope in-run bias in body frame (rad/s, y right)
-float32 gyro_z_bias		# Z gyroscope in-run bias in body frame (rad/s, z down)
+float32[3] gyro_bias		# gyroscope in-run bias in body frame (rad/s)
 
-float32 accel_x_bias	# X accelerometer in-run bias in body frame (m/s^2, x forward)
-float32 accel_y_bias	# Y accelerometer in-run bias in body frame (m/s^2, y right)
-float32 accel_z_bias	# Z accelerometer in-run bias in body frame (m/s^2, z down)
+float32[3] accel_bias		# accelerometer in-run bias in body frame (m/s^2)
 
-float32 mag_x_bias		# X magnetometer in-run bias in body frame (Gauss, x forward)
-float32 mag_y_bias		# Y magnetometer in-run bias in body frame (Gauss, y right)
-float32 mag_z_bias		# Z magnetometer in-run bias in body frame (Gauss, z down)
+float32[3] mag_bias		# magnetometer in-run bias in body frame (Gauss)

msg/tools/uorb_rtps_message_ids.yaml

@@ -256,6 +256,8 @@ rtps:
     id: 111
   - msg: vehicle_angular_velocity
     id: 112
+  - msg: vehicle_acceleration
+    id: 113
   # multi topics
   - msg: actuator_controls_0
     id: 120

msg/vehicle_acceleration.msg

@@ -0,0 +1,6 @@
+
+uint64 timestamp		# time since system start (microseconds)
+
+uint64 timestamp_sample		# the timestamp of the raw data (microseconds)
+
+float32[3] xyz			# Bias corrected acceleration (including gravity) in body axis (in m/s^2)