sensors: create vehicle_angular_velocity module (#12596)

* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl

src/modules/sensors/sensors.cpp

@@ -92,6 +92,8 @@
 #include "rc_update.h"
 #include "voted_sensors_update.h"
 
+#include "vehicle_angular_velocity/VehicleAngularVelocity.hpp"
+
 using namespace DriverFramework;
 using namespace sensors;
 using namespace time_literals;
@@ -135,7 +137,7 @@ class Sensors : public ModuleBase<Sensors>, public ModuleParams
 {
 public:
 	Sensors(bool hil_enabled);
-	~Sensors() = default;
+	~Sensors() override;
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
@@ -202,6 +204,9 @@ private:
 	VotedSensorsUpdate _voted_sensors_update;
 
 
+	VehicleAngularVelocity	_angular_velocity;
+
+
 	/**
 	 * Update our local parameter cache.
 	 */
@@ -253,6 +258,13 @@ Sensors::Sensors(bool hil_enabled) :
 	}
 
 #endif /* BOARD_NUMBER_BRICKS > 0 */
+
+	_angular_velocity.Start();
+}
+
+Sensors::~Sensors()
+{
+	_angular_velocity.Stop();
 }
 
 int
@@ -724,6 +736,8 @@ int Sensors::print_status()
 	PX4_INFO("Airspeed status:");
 	_airspeed_validator.print();
 
+	_angular_velocity.PrintStatus();
+
 	return 0;
 }