sensors/vehicle_imu: vehicle_imu_status add mean accel/gyro

- this makes it slightly easier to gather long term data for an Allan Variance
 - fixes https://github.com/PX4/Firmware/issues/6250

msg/vehicle_imu_status.msg

@@ -1,9 +1,9 @@
-uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp                # time since system start (microseconds)
 
-uint32 accel_device_id    # unique device ID for the sensor that does not change between power cycles
-uint32 gyro_device_id    # unique device ID for the sensor that does not change between power cycles
+uint32 accel_device_id          # unique device ID for the sensor that does not change between power cycles
+uint32 gyro_device_id           # unique device ID for the sensor that does not change between power cycles
 
-uint32[3] accel_clipping        # clipping per axis
+uint32[3] accel_clipping        # total clipping per axis
 
 uint32 accel_error_count
 uint32 gyro_error_count
@@ -12,5 +12,11 @@ uint16 accel_rate_hz
 uint16 gyro_rate_hz
 
 float32 accel_vibration_metric  # high frequency vibration level in the IMU delta velocity data (m/s)
-float32 gyro_vibration_metric  # high frequency vibration level in the IMU delta velocity data (m/s)
-float32 gyro_coning_vibration  # Level of coning vibration in the IMU delta angles (rad^2)
+float32 gyro_vibration_metric   # high frequency vibration level in the IMU delta velocity data (m/s)
+float32 gyro_coning_vibration   # Level of coning vibration in the IMU delta angles (rad^2)
+
+float32[3] mean_accel           # average accelerometer readings since last publication
+float32[3] mean_gyro            # average gyroscope readings since last publication
+
+float32 temperature_accel
+float32 temperature_gyro

src/modules/sensors/vehicle_imu/VehicleIMU.cpp

@@ -237,7 +237,12 @@ void VehicleIMU::Run()
 			_status.gyro_error_count = gyro.error_count;
 		}
 
-		_gyro_integrator.put(gyro.timestamp_sample, Vector3f{gyro.x, gyro.y, gyro.z});
+		const Vector3f gyro_raw{gyro.x, gyro.y, gyro.z};
+		_gyro_sum += gyro_raw;
+		_gyro_temperature += gyro.temperature;
+		_gyro_sum_count++;
+
+		_gyro_integrator.put(gyro.timestamp_sample, gyro_raw);
 		_last_timestamp_sample_gyro = gyro.timestamp_sample;
 
 		if (!sensor_data_gap && _intervals_configured && _gyro_integrator.integral_ready()) {
@@ -275,7 +280,12 @@ void VehicleIMU::Run()
 			_status.accel_error_count = accel.error_count;
 		}
 
-		_accel_integrator.put(accel.timestamp_sample, Vector3f{accel.x, accel.y, accel.z});
+		const Vector3f accel_raw{accel.x, accel.y, accel.z};
+		_accel_sum += accel_raw;
+		_accel_temperature += accel.temperature;
+		_accel_sum_count++;
+
+		_accel_integrator.put(accel.timestamp_sample, accel_raw);
 		_last_timestamp_sample_accel = accel.timestamp_sample;
 
 		if (accel.clip_counter[0] > 0 || accel.clip_counter[1] > 0 || accel.clip_counter[2] > 0) {
@@ -364,6 +374,23 @@ void VehicleIMU::Run()
 				if (publish_status || (hrt_elapsed_time(&_status.timestamp) >= 100_ms)) {
 					_status.accel_device_id = _accel_calibration.device_id();
 					_status.gyro_device_id = _gyro_calibration.device_id();
+
+					// mean accel
+					const Vector3f accel_mean{_accel_calibration.Correct(_accel_sum / _accel_sum_count)};
+					accel_mean.copyTo(_status.mean_accel);
+					_status.temperature_accel = _accel_temperature / _accel_sum_count;
+					_accel_sum.zero();
+					_accel_temperature = 0;
+					_accel_sum_count = 0;
+
+					// mean gyro
+					const Vector3f gyro_mean{_gyro_calibration.Correct(_gyro_sum / _gyro_sum_count)};
+					gyro_mean.copyTo(_status.mean_gyro);
+					_status.temperature_gyro = _gyro_temperature / _gyro_sum_count;
+					_gyro_sum.zero();
+					_gyro_temperature = 0;
+					_gyro_sum_count = 0;
+
 					_status.timestamp = hrt_absolute_time();
 					_vehicle_imu_status_pub.publish(_status);
 				}

src/modules/sensors/vehicle_imu/VehicleIMU.hpp

@@ -107,6 +107,13 @@ private:
 	unsigned _gyro_last_generation{0};
 	unsigned _consecutive_data_gap{0};
 
+	matrix::Vector3f _accel_sum{};
+	matrix::Vector3f _gyro_sum{};
+	int _accel_sum_count{0};
+	int _gyro_sum_count{0};
+	float _accel_temperature{0};
+	float _gyro_temperature{0};
+
 	matrix::Vector3f _delta_angle_prev{0.f, 0.f, 0.f};	// delta angle from the previous IMU measurement
 	matrix::Vector3f _delta_velocity_prev{0.f, 0.f, 0.f};	// delta velocity from the previous IMU measurement