fix commander: separate state tracking for battery_unhealthy failsafe (#24493)

There is already another check for battery_unhealthy, so a separate state
and ID are required.

Fixes the error:
ERROR [failsafe] BUG: duplicate check for caller_id 74

Author: bkueng

src/modules/commander/failsafe/failsafe.cpp

@@ -577,8 +577,12 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 	if ((_armed_time != 0)
 	    && (time_us < _armed_time + static_cast<hrt_abstime>(_param_com_spoolup_time.get() * 1_s))
 	   ) {
-		CHECK_FAILSAFE(status_flags, fd_esc_arming_failure, ActionOptions(Action::Disarm).cannotBeDeferred());
-		CHECK_FAILSAFE(status_flags, battery_unhealthy, ActionOptions(Action::Disarm).cannotBeDeferred());
+		_last_state_fd_esc_arming = checkFailsafe(_caller_id_fd_esc_arming, _last_state_fd_esc_arming,
+					    status_flags.fd_esc_arming_failure,
+					    ActionOptions(Action::Disarm).cannotBeDeferred());
+		_last_state_battery_unhealthy_spoolup = checkFailsafe(_caller_id_battery_unhealthy_spoolup,
+							_last_state_battery_unhealthy_spoolup, status_flags.battery_unhealthy,
+							ActionOptions(Action::Disarm).cannotBeDeferred());
 	}
 
 	// Handle fails during the early takeoff phase

src/modules/commander/failsafe/failsafe.h

@@ -179,6 +179,10 @@ class Failsafe : public FailsafeBase
 	bool _last_state_battery_warning_critical{false};
 	const int _caller_id_battery_warning_emergency{genCallerId()};
 	bool _last_state_battery_warning_emergency{false};
+	const int _caller_id_fd_esc_arming{genCallerId()};
+	bool _last_state_fd_esc_arming{false};
+	const int _caller_id_battery_unhealthy_spoolup{genCallerId()};
+	bool _last_state_battery_unhealthy_spoolup{false};
 
 	hrt_abstime _armed_time{0};
 	bool _was_armed{false};