add imu disable fault

Author: dhacks541

.github/workflows/test_code.yml

@@ -12,13 +12,13 @@ jobs:
     steps:
     - uses: actions/checkout@v2
     - name: Cache pip
-      uses: actions/cache@v2
+      uses: actions/cache@v4
       with:
         path: ~/.cache/pip
         key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
         restore-keys: ${{ runner.os }}-pip-
     - name: Cache PlatformIO
-      uses: actions/cache@v2
+      uses: actions/cache@v4
       with:
         path: ~/.platformio
         key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}

src/Faults.cpp

@@ -14,6 +14,7 @@ namespace fault_groups {
         Fault *gyro_y_average = new Fault(0x6009);
         Fault *gyro_z_value = new Fault(0x6010);
         Fault *gyro_z_average = new Fault(0x6011);
+        Fault *imu_disable = new Fault(0x6012);
     } // namespace imu_faults
     namespace power_faults {
         Fault *temp_c_value = new Fault(0x6020);

src/Faults.hpp

@@ -17,6 +17,7 @@ namespace fault_groups {
         extern Fault *gyro_y_average;
         extern Fault *gyro_z_value;
         extern Fault *gyro_z_average;
+        extern Fault *imu_disable;
     } // namespace imu_faults
     namespace power_faults {
         extern Fault *temp_c_value;

src/Monitors/IMUMonitor.cpp

@@ -36,7 +36,7 @@ void IMUMonitor::execute()
         sfr::imu::power_setting = (uint8_t)sensor_power_mode_type::do_nothing;
     }
 
-    if (sfr::imu::power_setting == (uint8_t)sensor_power_mode_type::on && sfr::imu::powered == false) {
+    if (sfr::imu::power_setting == (uint8_t)sensor_power_mode_type::on && sfr::imu::powered == false && !fault_groups::imu_faults::imu_disable->get_base()) {
 #ifdef VERBOSE
         Serial.println("Turned on IMU");
 #endif