sensors: refactor common corrections and rotation helpers

[dagar]

This PR refactors the duplicated board rotation and sensor correction (if available) handling in the sensors module.

It saves about 1.5 kB of flash.

[codecov]

Codecov Report

Merging #14036 into master will decrease coverage by 6.15%.
The diff coverage is 37.37%.

@@            Coverage Diff             @@
##           master   #14036      +/-   ##
==========================================
- Coverage   42.33%   36.18%   -6.16%     
==========================================
  Files         605      546      -59     
  Lines       51208    46834    -4374     
==========================================
- Hits        21680    16946    -4734     
- Misses      29528    29888     +360

Flag	Coverage Δ
#mavsdk	36.18% <37.37%> (-0.08%)	⬇️
#python	?
#sitl_mission_FW	?
#sitl_mission_MC_box	?
#sitl_mission_MC_offboard_att	?
#sitl_mission_MC_offboard_pos	?
#sitl_mission_Rover	?
#sitl_mission_VTOL_standard	?
#sitl_mission_VTOL_tailsitter	?
#sitl_python_FW	?
#sitl_python_MC_box	?
#sitl_python_MC_offboard_att	?
#sitl_python_MC_offboard_pos	?
#sitl_python_Rover	?
#sitl_python_VTOL_standard	?
#sitl_python_VTOL_tailsitter	?
#unittest	?

Impacted Files	Coverage Δ
...nsors/vehicle_acceleration/VehicleAcceleration.hpp	100% <100%> (ø)	⬆️
...ehicle_angular_velocity/VehicleAngularVelocity.hpp	100% <100%> (ø)	⬆️
...s/sensors/sensor_corrections/SensorCorrections.cpp	22.53% <22.53%> (ø)
...s/sensors/sensor_corrections/SensorCorrections.hpp	33.33% <33.33%> (ø)
src/modules/sensors/vehicle_imu/VehicleIMU.cpp	76.19% <70%> (+32.31%)	⬆️
...nsors/vehicle_acceleration/VehicleAcceleration.cpp	79.59% <80%> (+5.34%)	⬆️
...ehicle_angular_velocity/VehicleAngularVelocity.cpp	82.81% <83.33%> (+5.93%)	⬆️
...modules/rover_pos_control/RoverPositionControl.hpp	0% <0%> (-100%)	⬇️
src/modules/land_detector/RoverLandDetector.cpp	0% <0%> (-100%)	⬇️
src/modules/vtol_att_control/tailsitter.cpp	0% <0%> (-94.45%)	⬇️
... and 118 more

[dakejahl]

Nice! Looks good to me.

[jlecoeur]

Looks good to me.

How about doing the same for sensor biases?

BTW, isn't vehicle_imu bias compensated? I understand that this data is consumed by the estimator, who is responsible for bias estimation, however it would be useful to have unbiased data in vehicle_imu in case it is consumed elsewhere.

[dagar]

BTW, isn't vehicle_imu bias compensated? I understand that this data is consumed by the estimator, who is responsible for bias estimation, however it would be useful to have unbiased data in vehicle_imu in case it is consumed elsewhere.

The vehicle_imu's are without bias, however we're publishing one for each IMU (accel + gyro paired), so it's not necessarily appropriate for other usage. At the moment sensor_combined is still that primary IMU that can be used systemwide. I haven't quite decided on the least bad option for carrying all options semi-intuitively.

[dagar]

This was bench tested.