FailureDetector - New class, first working simple implementation. Outputs PX4_ERR messages if roll or pitch is exceeded.

src/modules/commander/Commander.hpp

@@ -35,6 +35,7 @@
 #define COMMANDER_HPP_
 
 #include "state_machine_helper.h"
+#include "failure_detector/FailureDetector.hpp"
 
 #include <controllib/blocks.hpp>
 #include <px4_module.h>
@@ -128,6 +129,8 @@ private:
 	bool		_nav_test_passed{false};	/**< true if the post takeoff navigation test has passed */
 	bool		_nav_test_failed{false};	/**< true if the post takeoff navigation test has failed */
 
+	FailureDetector _failure_detector;
+
 	bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd,
 			    actuator_armed_s *armed, home_position_s *home, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);