AP_InertialSensor: use batch logging options to allow pre-post raw gyro logging

[IamPete1]

This expands the capability of raw sensor logging to allow post filter and pre-post. If the board can keep up with it raw sensor is much nicer than batch logging.

• logs as float, much less quantization noise
• its continuous so you can change FFT window size after the fact, also much better for seeing how the frequency tracking is doing
• Pre-post is of the same samples so a true comparison can be made in dynamic flight

This re-uses the batch sampler options, which means we loose this functionality if batch sampler is compiled out. This will be a change in behavior if users have left over options from filter setup but now have disabled the batch mask. We could also add a new param for just raw sensor logging, this would allow us to add a new bits "primary IMU only" and "gyro only" that would reduce the logging rate.

[andyp1per]

Nice, any idea what the logging data rate is with this?

[IamPete1]

Its a 32 byte log packet, so 3 IMUs, pre and post at 2khz would be 32 * 2 * 3 * 2000 = 384000 Bps, 3.072 Mb/s. Its a lot, but I think we can keep up, certainly on the faster boards.

[andyp1per]

Looks right to me - presumably you have tested all the different options?

[IamPete1]

Rebased.

[IamPete1]

Test logs here: https://drive.google.com/file/d/1tcZ5kfnru_8Pl9n58yfHzoi30Kmpyj5Q/view?usp=sharing

Log1, batch logging pre filter:

Log2, batch logging post filter:

Log3, batch logging pre and post:

Log4, raw sensor logging pre:

Log5, raw sensor logging post:

Log6, raw sensor pre and post:

Note that it does need a minor change to the filter review tool to take the new options into account when plotting raw sensor.

[IamPete1]

I hope those plots also clearly show why raw sensor logging is better. The white bands in the sepctogram show where logging could not keep up. None in the batch logs, a couple in raw sensor logging, more in pre+post raw. Tested on CubeOrange with default logging settings.

Maybe as future PR we could add a raw logging mask so you can raw log on just a single sensor, currently its all or nothing. Unfortunately we can't just reuse the batch logging mask as we would need to default to log all.

[IamPete1]

The new pre-post option also allows for a direct evaluation of the filter tools post-filter estimate. No notches enabled for this test, so just low pass.

[tridge]

maybe INS_LOG_OPTION bitmask, where INS_LOG_OPTIONS=1 means log primary gyro raw

[IamPete1]

Some more testing.

New param not set, RAW IMU log bitmask.

RAW IMU log bitmask off, new INS_RAW_LOG_OPT - primary only - happened to have a change of primary in the log. First half on gyro 2 and the second half on gyro 1.

INS_RAW_LOG_OPT - all gyro.

INS_RAW_LOG_OPT - all gyro + post filter

INS_RAW_LOG_OPT - all gyro + pre/post filter

Added new param INS_RAW_LOG_OPT