AP_InertialSensor: Backend: add hook for new raw accel samples

That hook will eventually do necessary things when a new accelerometer raw
sample arrives (like calculating vibration levels).

libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp

@@ -70,6 +70,11 @@ void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f
     _imu._accel_healthy[instance] = true;
 }
 
+void AP_InertialSensor_Backend::_notify_new_accel_raw_sample(uint8_t instance,
+                                                             const Vector3f &accel)
+{
+}
+
 void AP_InertialSensor_Backend::_set_accel_max_abs_offset(uint8_t instance,
                                                           float max_offset)
 {

libraries/AP_InertialSensor/AP_InertialSensor_Backend.h

@@ -88,6 +88,12 @@ protected:
     // rotate accel vector, scale, offset and publish
     void _publish_accel(uint8_t instance, const Vector3f &accel);
 
+    // this should be called every time a new accel raw sample is available -
+    // be it published or not
+    // the sample is raw in the sense that it's not filtered yet, but it must
+    // be rotated and corrected (_rotate_and_correct_accel)
+    void _notify_new_accel_raw_sample(uint8_t instance, const Vector3f &accel);
+
     // set accelerometer max absolute offset for calibration
     void _set_accel_max_abs_offset(uint8_t instance, float offset);
 

libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp

@@ -225,6 +225,7 @@ void AP_InertialSensor_Flymaple::_accumulate(void)
         // Adjust for chip scaling to get m/s/s
         accel *= FLYMAPLE_ACCELEROMETER_SCALE_M_S;
         _rotate_and_correct_accel(_accel_instance, accel);
+        _notify_new_accel_raw_sample(_accel_instance, accel);
         _accel_filtered = _accel_filter.apply(accel);
         _have_accel_sample = true;
         _last_accel_timestamp = now;

libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp

@@ -345,6 +345,7 @@ void AP_InertialSensor_L3G4200D::_accumulate(void)
                 // Adjust for chip scaling to get m/s/s
                 accel *= ADXL345_ACCELEROMETER_SCALE_M_S;
                 _rotate_and_correct_accel(_accel_instance, accel);
+                _notify_new_accel_raw_sample(_accel_instance, accel);
                 _data[_data_idx].accel_filtered = _accel_filter.apply(accel);
                 _have_accel_sample = true;
             }

libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp

@@ -741,6 +741,7 @@ void AP_InertialSensor_LSM9DS0::_read_data_transaction_a()
     Vector3f accel_data(raw_data.x, -raw_data.y, -raw_data.z);
     accel_data *= _accel_scale;
     _rotate_and_correct_accel(_accel_instance, accel_data);
+    _notify_new_accel_raw_sample(_accel_instance, accel_data);
     _accel_filtered = _accel_filter.apply(accel_data);
     _accel_sample_available = true;
 }

libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp

@@ -763,6 +763,8 @@ void AP_InertialSensor_MPU6000::_accumulate(uint8_t *samples, uint8_t n_samples)
         _rotate_and_correct_accel(_accel_instance, accel);
         _rotate_and_correct_gyro(_gyro_instance, gyro);
 
+        _notify_new_accel_raw_sample(_accel_instance, accel);
+
 #if MPU6000_FAST_SAMPLING
         _accel_filtered = _accel_filter.apply(accel);
         _gyro_filtered = _gyro_filter.apply(gyro);

libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp

@@ -1092,6 +1092,7 @@ void AP_InertialSensor_MPU9150::_accumulate(void)
         accel = Vector3f(accel_x, accel_y, accel_z);
         accel *= MPU9150_ACCEL_SCALE_2G;
         _rotate_and_correct_accel(_accel_instance, accel);
+        _notify_new_accel_raw_sample(_accel_instance, accel);
         _accel_filtered = _accel_filter.apply(accel);
 
         gyro = Vector3f(gyro_x, gyro_y, gyro_z);

libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp

@@ -391,6 +391,7 @@ void AP_InertialSensor_MPU9250::_read_data_transaction()
     accel *= MPU9250_ACCEL_SCALE_1G;
     accel.rotate(_default_rotation);
     _rotate_and_correct_accel(_accel_instance, accel);
+    _notify_new_accel_raw_sample(_accel_instance, accel);
 
     gyro = Vector3f(int16_val(rx.v, 5),
                     int16_val(rx.v, 4),

libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp

@@ -259,6 +259,7 @@ void AP_InertialSensor_PX4::_new_accel_sample(uint8_t i, accel_report &accel_rep
 
     // apply corrections
     _rotate_and_correct_accel(frontend_instance, accel);
+    _notify_new_accel_raw_sample(frontend_instance, accel);
 
     // apply filter for control path
     _accel_in[i] = _accel_filter[i].apply(accel);