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Rebased on Master.
There is a race condition for the accel and mag polling rates.
Whichever one gets set first, the other will be uninitialized.
Set the mag polling rate to 1ms if uninitilized.
The workqueues measure time in ticks which is typically 10ms.
Some interrupt events in Nuttx occur at about 1ms so a more
granular workqueue is needed for POSIX.
Added a separate hrt_queue for handling fast periodic events.