[SP] Davis240C IMU watchdog
datahaki opened this issue · comments
Background
The IMU measurements from the Davis240C are likely to become a component of the lidar-based localization method. That means, a continued absence of the IMU measurements should prevent the gokart from accelerating.
Task Description
Create a safety module that subscribes to DavisImuFrame messages. The module tracks the time of the last message. If no message was received in an interval of 150[ms] then the safety module flags an emergency, and from then on commands RimoPutEvent.PASSIVE.
Remark: The logic is similar to Vlp16ClearanceModule.