add cs_baro_fault to switch to fallback baro if available (#24260)

src/modules/sensors/vehicle_air_data/VehicleAirData.cpp

@@ -141,6 +141,9 @@ void VehicleAirData::Run()
 
 	AirTemperatureUpdate();
 
+	estimator_status_flags_s estimator_status_flags;
+	const bool estimator_status_flags_updated = _estimator_status_flags_sub.update(&estimator_status_flags);
+
 	bool updated[MAX_SENSOR_COUNT] {};
 
 	for (int uorb_index = 0; uorb_index < MAX_SENSOR_COUNT; uorb_index++) {
@@ -196,6 +199,11 @@ void VehicleAirData::Run()
 						ParametersUpdate(true);
 					}
 
+					if (estimator_status_flags_updated && _selected_sensor_sub_index >= 0 && _selected_sensor_sub_index == uorb_index
+					    && estimator_status_flags.cs_baro_fault) {
+						_priority[uorb_index] = 1; // 1 is min priority while still being enabled
+					}
+
 					// pressure corrected with offset (if available)
 					_calibration[uorb_index].SensorCorrectionsUpdate();
 					const float pressure_corrected = _calibration[uorb_index].Correct(report.pressure);

src/modules/sensors/vehicle_air_data/VehicleAirData.hpp

@@ -54,6 +54,7 @@
 #include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensors_status.h>
 #include <uORB/topics/vehicle_air_data.h>
+#include <uORB/topics/estimator_status_flags.h>
 
 using namespace time_literals;
 
@@ -89,6 +90,8 @@ private:
 
 	uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)};
 
+	uORB::Subscription _estimator_status_flags_sub{ORB_ID(estimator_status_flags)};
+
 	uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
 		{this, ORB_ID(sensor_baro), 0},
 		{this, ORB_ID(sensor_baro), 1},