Add high precision IMU message for the new ADIS IMU

[haavardsyslak]

No description provided.

[aviggen]

Add // Raw IMU data. to make it consistent with the others, maybe?

[haavardsyslak]

Yes
Also add a comment that there is no Magnetometer in contrast to the other IMUs?

[aviggen]

We typically do not have product names in the message definitions, as we might try another IMU sometime in the future. So maybe it's better to keep ImuHpTel or ImuPerformanceTel and CalibratedPerformanceImuTel? Then we can add Adis in the comments, because that is easier to change later. @haavardsyslak

[aviggen]

Here is an option if we want to log more data in the future:

import "google/protobuf/any.proto";

// Calibrated High Precision IMU data
message CalibratedImuHpTel {
  Imu imu = 1; // Calibrated High Precision IMU (no magnetometer)

  // Optional vendor-specific extension
  google.protobuf.Any vendor_extension = 100; // e.g. ADIS, Bosch, Xsens...
}

message AdisImuExtension {
  Vector3 delta_angle    = 1; // rad
  Vector3 delta_velocity = 2; // m/s
}

message XsenseImuExtension {
  double temperature = 1;  // °C
  double bias_level  = 2;  // rad/s or m/s²
}