* [generator] generate unique ID and names table for modules
* [state] add accessors for the state origin
* [state] don't access directly to state origin, use getters
* [state] filter inputs with module ID
* [ahrs] convert AHRS modules to state input filter
- selection of ahrs with settings from each module
- init functions for each ahrs modules
- remove old chimu
* update unit test
* [ins] decoupled INS implementation
To allow multiple INS at the same time:
- remove weak functions from ins.c
- remove the INS_TYPE_H define
- use ABI message to trigger INS reset
* [state] protect for c++
Add two new items in module's dependency:
- recommends: a recommended module tells the sorting algo that if the module is found, it should be sorted accordingly. It is useful for optional dependencies, like shell or mission in some modules
- suggests: if a functionality is not provided by the user, a module can suggest a list of modules that can provide them. It is a convenient way to have "default" modules.
As a result the former autoload node is removed and replaced by suggested modules.
When adding a test node to a makefile section, with required compilation
flags, include and other options, all the files (not arch dependent
files) can be compiled with a TAP compatible program, included in the
standard tests of the CI servers.
Not all module's XML files are converted, but a large part of the most
important parts are already covered. More will be added later. The
number of tested airframes (full compilation of all targets) have been
reduced to speed the CI compile time but still covers the relevant
architecture and boards.
The main benefit is that the overall coverage is already better than
before as previous test aircraft were compiling more or less the same
part of the airborne code, while this new mechanism is more efficient to
test modules not included in any config.
the same filter is already applied in the int_quat ahrs and can prevent
incorrect measurement rejection when strong structural vibrations
increase the IMU noise
