FD: add dedicated topic to log more internal states

log imbalanced propeller check metric

add failure_detector_status message

msg/CMakeLists.txt

@@ -75,6 +75,7 @@ set(msg_files
 	estimator_status_flags.msg
 	event.msg
 	follow_target.msg
+	failure_detector_status.msg
 	generator_status.msg
 	geofence_result.msg
 	gimbal_device_attitude_status.msg

msg/failure_detector_status.msg

@@ -0,0 +1,16 @@
+uint64 timestamp                    # time since system start (microseconds)
+
+# FailureDetector status
+uint8 FAILURE_NONE = 0
+uint8 FAILURE_ROLL = 1              # (1 << 0)
+uint8 FAILURE_PITCH = 2             # (1 << 1)
+uint8 FAILURE_ALT = 4               # (1 << 2)
+uint8 FAILURE_EXT = 8               # (1 << 3)
+uint8 FAILURE_ARM_ESC = 16          # (1 << 4)
+uint8 FAILURE_HIGH_WIND = 32        # (1 << 5)
+uint8 FAILURE_BATTERY = 64          # (1 << 6)
+uint8 FAILURE_IMBALANCED_PROP = 128 # (1 << 7)
+
+uint8 failure_status                # Bitmask containing FailureDetector status
+
+float32 imbalanced_prop_metric      # Metric of the imbalanced propeller check (low-passed)