AP_InertialSensor: ensure very regular period on MPU6000 #27893
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Split out from #27029 as its probably not that necessary, but replicates something we already do on the v3. The idea here is to avoid two SPI reads in order to get FIFO data. This is because we insert a fixed 100us delay for each SPI thread loop and two reads results in therefore an additional 200us delay. All it tries to do is synchronize the fifo reads with the expected output rate