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FD: add dedicated topic to log more internal states

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log imbalanced propeller check metric

add failure_detector_status message
This commit is contained in:
bresch
2021-11-05 09:45:52 -04:00
committed by Daniel Agar
parent b8ed457371
commit 3f1025fb1e
5 changed files with 28 additions and 1 deletions
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src/modules/commander/Commander.hpp
+2
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@@ -49,6 +49,7 @@
// publications
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/failure_detector_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/test_motor.h>
@@ -433,6 +434,7 @@ private:
// Publications
uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};
uORB::Publication<commander_state_s> _commander_state_pub{ORB_ID(commander_state)};
uORB::Publication<failure_detector_status_s> _failure_detector_status_pub{ORB_ID(failure_detector_status)};
uORB::Publication<test_motor_s> _test_motor_pub{ORB_ID(test_motor)};
uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};