mpu9250 wrapper: support updating gyro & accel cutoff via parameter

- useful for tuning snapdragon flight

Signed-off-by: Roman <bapstroman@gmail.com>

src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp

@@ -242,6 +242,31 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
 		_mag_calibration.y_offset = 0.0f;
 		_mag_calibration.z_offset = 0.0f;
 	}
+
+	// set software low pass filter for controllers
+	param_t param_handle = param_find("IMU_ACCEL_CUTOFF");
+	float param_val = MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
+
+	if (param_handle != PARAM_INVALID && (param_get(param_handle, &param_val) == PX4_OK)) {
+		_accel_filter_x.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
+		_accel_filter_y.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
+		_accel_filter_z.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, param_val);
+
+	} else {
+		PX4_ERR("IMU_ACCEL_CUTOFF param invalid");
+	}
+
+	param_handle = param_find("IMU_GYRO_CUTOFF");
+	param_val = MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
+
+	if (param_handle != PARAM_INVALID && (param_get(param_handle, &param_val) == PX4_OK)) {
+		_gyro_filter_x.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
+		_gyro_filter_y.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
+		_gyro_filter_z.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, param_val);
+
+	} else {
+		PX4_ERR("IMU_GYRO_CUTOFF param invalid");
+	}
 }
 
 DfMpu9250Wrapper::~DfMpu9250Wrapper()