sensor_combined cleanup: remove many unneeded fields

Decreases the message size from 780 to 280 bytes.
In particular, all modules using sensor_combined must use the integral now.
The sensor value can easily be reconstructed by dividing with dt.

Voters now need to be moved into sensors module, because error count and
priority is removed from the topic.

Any module that requires additional data from a sensor can subscribe to
the raw sensor topics.

At two places, values are set to zero instead of subscribing to the raw
sensors (with the assumption that no one reads them):
- mavlink mavlink_highres_imu_t::abs_pressure
- sdlog2: sensor temperatures

msg/sensor_combined.msg

@@ -1,63 +1,22 @@
-# Definition of the sensor_combined uORB topic.
-
-int32 MAGNETOMETER_MODE_NORMAL = 0
-int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
-int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
-
-uint32 SENSOR_PRIO_MIN = 0
-uint32 SENSOR_PRIO_VERY_LOW = 25
-uint32 SENSOR_PRIO_LOW = 50
-uint32 SENSOR_PRIO_DEFAULT = 75
-uint32 SENSOR_PRIO_HIGH = 100
-uint32 SENSOR_PRIO_VERY_HIGH = 125
-uint32 SENSOR_PRIO_MAX = 255
-
-# Sensor readings in raw and SI-unit form.
 #
-# These values are read from the sensors. Raw values are in sensor-specific units,
-# the scaled values are in SI-units, as visible from the ending of the variable
-# or the comments. The use of the SI fields is in general advised, as these fields
-# are scaled and offset-compensated where possible and do not change with board
-# revisions and sensor updates.
+# Sensor readings in SI-unit form.
 #
-# Actual data, this is specific to the type of data which is stored in this struct
-# A line containing L0GME will be added by the Python logging code generator to the logged dataset.
+# These fields are scaled and offset-compensated where possible and do not
+# change with board revisions and sensor updates.
 #
 
 uint64[3] gyro_timestamp			# Gyro timestamps
-int16[9] gyro_raw			# Raw sensor values of angular velocity
-float32[9] gyro_rad_s			# Angular velocity in radian per seconds
-uint32[3] gyro_priority			# Sensor priority
-float32[9] gyro_integral_rad		# delta angle in radians
+float32[9] gyro_integral_rad		# delta angle in the NED body frame in rad in the integration time frame
 uint64[3] gyro_integral_dt			# delta time for gyro integral in us
-uint32[3] gyro_errcount			# Error counter for gyro 0
-float32[3] gyro_temp			# Temperature of gyro 0
 
-int16[9] accelerometer_raw		# Raw acceleration in NED body frame
-float32[9] accelerometer_m_s2		# Acceleration in NED body frame, in m/s^2
 float32[9] accelerometer_integral_m_s		# velocity in NED body frame, in m/s^2
 uint64[3] accelerometer_integral_dt		# delta time for accel integral in us
-int16[3] accelerometer_mode			# Accelerometer measurement mode
-float32[3] accelerometer_range_m_s2		# Accelerometer measurement range in m/s^2
 uint64[3] accelerometer_timestamp	# Accelerometer timestamp
-uint32[3] accelerometer_priority	# Sensor priority
-uint32[3] accelerometer_errcount	# Error counter for accel 0
-float32[3] accelerometer_temp		# Temperature of accel 0
 
-int16[9] magnetometer_raw		# Raw magnetic field in NED body frame
 float32[9] magnetometer_ga		# Magnetic field in NED body frame, in Gauss
-int16[3] magnetometer_mode			# Magnetometer measurement mode
-float32[3] magnetometer_range_ga		# measurement range in Gauss
-float32[3] magnetometer_cuttoff_freq_hz	# Internal analog low pass frequency of sensor
 uint64[3] magnetometer_timestamp	# Magnetometer timestamp
-uint32[3] magnetometer_priority			# Sensor priority
-uint32[3] magnetometer_errcount		# Error counter for mag 0
-float32[3] magnetometer_temp		# Temperature of mag 0
 
-float32[3] baro_pres_mbar			# Barometric pressure, already temp. comp.
 float32[3] baro_alt_meter			# Altitude, already temp. comp.
 float32[3] baro_temp_celcius		# Temperature in degrees celsius
 uint64[3] baro_timestamp		# Barometer timestamp
-uint32[3] baro_priority			# Sensor priority
-uint32[3] baro_errcount			# Error count in communication