arming checks: add health topic

msg/CMakeLists.txt

@@ -95,6 +95,7 @@ set(msg_files
 	gimbal_manager_status.msg
 	gps_dump.msg
 	gps_inject_data.msg
+	health_report.msg
 	heater_status.msg
 	home_position.msg
 	hover_thrust_estimate.msg

msg/health_report.msg

@@ -0,0 +1,13 @@
+uint64 timestamp # time since system start (microseconds)
+
+uint64 can_arm_mode_flags              # bitfield for each flight mode (NAVIGATION_STATE_*) if arming is possible
+uint64 can_run_mode_flags              # bitfield for each flight mode if it can run
+
+uint64 health_is_present_flags         # flags for each health_component_t
+uint64 health_warning_flags
+uint64 health_error_flags
+# A component is required but missing, if present==0 and error==1
+
+uint64 arming_check_warning_flags
+uint64 arming_check_error_flags
+