sensors: sensor_preflight_imu -> sensors_status_imu and run continuously

- inconsistency checks now run continuously instead of only preflight
 - keep inconsistencies for all sensors
 - add per sensor data validator state as overall health flag

msg/CMakeLists.txt

@@ -120,9 +120,9 @@ set(msg_files
 	sensor_gyro.msg
 	sensor_gyro_fifo.msg
 	sensor_mag.msg
-	sensor_preflight_imu.msg
 	sensor_preflight_mag.msg
 	sensor_selection.msg
+	sensors_status_imu.msg
 	subsystem_info.msg
 	system_power.msg
 	task_stack_info.msg

msg/sensor_preflight_imu.msg

@@ -1,7 +0,0 @@
-#
-# Pre-flight sensor check metrics. These will be zero if the vehicle only has one sensor.
-# The topic will not be updated when the vehicle is armed
-#
-uint64 timestamp # time since system start (microseconds)
-float32 accel_inconsistency_m_s_s # magnitude of maximum acceleration difference between IMU instances in (m/s/s).
-float32 gyro_inconsistency_rad_s # magnitude of maximum angular rate difference between IMU instances in (rad/s).

msg/sensors_status_imu.msg

@@ -0,0 +1,17 @@
+#
+# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
+#
+uint64 timestamp # time since system start (microseconds)
+
+uint32 accel_device_id_primary       # current primary accel device id for reference
+
+uint32[3] accel_device_ids
+float32[3] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and primary in (m/s/s).
+bool[3] accel_healthy
+
+
+uint32 gyro_device_id_primary       # current primary gyro device id for reference
+
+uint32[3] gyro_device_ids
+float32[3] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and primary in (rad/s).
+bool[3] gyro_healthy

msg/tools/uorb_rtps_message_ids.yaml

@@ -144,7 +144,7 @@ rtps:
     id: 67
   - msg: sensor_mag
     id: 68
-  - msg: sensor_preflight_imu
+  - msg: sensors_status_imu
     id: 69
   - msg: sensor_selection
     id: 70