Improved sensor failsafe reporting

[mhkabir]

This adds verbose and complete failure reporting to the data validation class, so you know what exactly went wrong.
Sensor fail-safes, when triggered will now give the user a full story of what went wrong, in the GCS. Command-line validator output also includes error states for each sensor.

This is a result of debugging for #3122. The fix for that issue was to increase the mag data-rate, something we would have figured out long earlier if this framework had been in place. Hope this helps everyone in the future!!
This also fixes #2934

[LorenzMeier]

Very good job! Now we just need to fix the Travis error state.

[LorenzMeier]

src/lib/ecl/CMakeFiles/lib__ecl.dir/validation/data_validator_group.cpp.o -c ../src/lib/ecl/validation/data_validator_group.cpp

../src/lib/ecl/validation/data_validator_group.cpp:241:83: fatal error: comparison of integers of different signs: 'unsigned int' and 'int' [-Wsign-compare]

                if (next->used() && (next->state() != DataValidator::ERROR_FLAG_NO_ERROR) && (i == _prev_best)) {

                                                                                              ~ ^  ~~~~~~~~~~

1 error generated.

[mhkabir]

I have tested this now, works great! Travis fixed :)

Slick output now (manually triggered failsafe) :

nsh> attitude_estimator_q status
attitude_estimator_q: gyro status:
INFO  validator: best: 1, prev best: 0, failsafe: YES (1 events)
INFO  sensor #0, prio: 100, state: STALE_DATA DATA_TIMEOUT
INFO    val:  -0.0029, lp:  -0.0029 mean dev:   0.0000 RMS:   0.0011 conf:   0.0000
INFO    val:   0.0008, lp:   0.0008 mean dev:  -0.0000 RMS:   0.0010 conf:   0.0000
INFO    val:  -0.0015, lp:  -0.0015 mean dev:  -0.0000 RMS:   0.0009 conf:   0.0000
INFO  sensor #1, prio: 75, state: OK
INFO    val:   0.0001, lp:  -0.0002 mean dev:   0.0000 RMS:   0.0054 conf:   1.0000
INFO    val:   0.0035, lp:   0.0028 mean dev:  -0.0000 RMS:   0.0060 conf:   1.0000
INFO    val:   0.0090, lp:   0.0048 mean dev:  -0.0000 RMS:   0.0056 conf:   1.0000
attitude_estimator_q: accel status:
INFO  validator: best: 1, prev best: 0, failsafe: YES (1 events)
INFO  sensor #0, prio: 100, state: STALE_DATA DATA_TIMEOUT
INFO    val:   0.3937, lp:   0.3937 mean dev:  -0.0000 RMS:   0.0129 conf:   0.0000
INFO    val:   0.0898, lp:   0.0898 mean dev:   0.0000 RMS:   0.0137 conf:   0.0000
INFO    val:  -9.7812, lp:  -9.7812 mean dev:  -0.0000 RMS:   0.0095 conf:   0.0000
INFO  sensor #1, prio: 75, state: OK
INFO    val:   0.5700, lp:   0.5673 mean dev:  -0.0000 RMS:   0.0232 conf:   1.0000
INFO    val:  -0.1625, lp:  -0.1730 mean dev:   0.0000 RMS:   0.0277 conf:   1.0000
INFO    val:  -9.7327, lp:  -9.7191 mean dev:   0.0000 RMS:   0.0351 conf:   1.0000
attitude_estimator_q: mag status:
INFO  validator: best: 1, prev best: 0, failsafe: NO (0 events)
INFO  sensor #0, prio: 50, state: OK
INFO    val:   0.3326, lp:   0.3324 mean dev:   0.0000 RMS:   0.0011 conf:   1.0000
INFO    val:  -0.1449, lp:  -0.1441 mean dev:   0.0000 RMS:   0.0010 conf:   1.0000
INFO    val:   0.3387, lp:   0.3388 mean dev:   0.0000 RMS:   0.0017 conf:   1.0000
INFO  sensor #1, prio: 75, state: OK
INFO    val:  -0.0301, lp:  -0.0301 mean dev:   0.0000 RMS:   0.0003 conf:   1.0000
INFO    val:  -0.3625, lp:  -0.3625 mean dev:   0.0000 RMS:   0.0003 conf:   1.0000
INFO    val:   0.2528, lp:   0.2532 mean dev:  -0.0000 RMS:   0.0009 conf:   1.0000
INFO  sensor #2, prio: 75, state: NO_DATA DATA_TIMEOUT
INFO    val:  -0.0301, lp:  -0.0301 mean dev:   0.0000 RMS:   0.0003 conf:   1.0000
INFO    val:  -0.3625, lp:  -0.3625 mean dev:   0.0000 RMS:   0.0003 conf:   1.0000
INFO    val:   0.2528, lp:   0.2529 mean dev:  -0.0000 RMS:   0.0009 conf:   1.0000

[LorenzMeier]

Nice!