Claudio Chies d63f30c612 feat(failure_injection): Enable failure-injection on hardware, and through RC-switch (#27832) ...

* feat(failure_injection): integrate failure injection support across sensor drivers

* feat(failure_injection): enhance failure injection with RC switch support and instance bitmasking

feat(failure_injection): add disabled failure injection manager and system command support for v5x and v6x boards

* feat(failure_injection): add battery failure injection

Add a value-mutating apply-site for FAILURE_UNIT_SYSTEM_BATTERY. On an
injected OFF the outgoing battery_status is reported as a depleted pack
(zero remaining, emergency warning) so the low-battery failsafe triggers.

The apply-site lives in the shared Battery library, covering the analog
ADC, INA power monitors, ESC battery and SITL in one place, plus the
UAVCAN battery driver which publishes battery_status directly. The
previous SITL-only hack in BatterySimulator is removed in favour of this
shared path so simulation and hardware behave identically.

* fix(failure_injection): change parameter types from int32 to enum

* refactor(failure_injection): disable failure injection manager and system commands across multiple boards

* feat(failure_injection): enhance failure injection with timestamp handling and message-less support

* refactor(failure_injection): simplify has_timestamp_sample implementation and remove unused includes

* refactor(failure_injection):move conditional compilation into helper libary

* refactor(failure_injection): update CMakeLists to include failure_injection dependency across multiple drivers

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Co-authored-by: Claudio Chies <chiesc@chies.com>

2026-07-15 07:56:13 -07:00

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