drivers/heater: add logging and minor improvements

- new heater_status logging message
 - run continously at low rate until configured sensor is found
 - fix px4io fd bugs (fd open/close/ioctl must be same thread)

msg/CMakeLists.txt

@@ -68,6 +68,7 @@ set(msg_files
 	geofence_result.msg
 	gps_dump.msg
 	gps_inject_data.msg
+	heater_status.msg
 	home_position.msg
 	hover_thrust_estimate.msg
 	input_rc.msg
@@ -127,11 +128,11 @@ set(msg_files
 	sensor_selection.msg
 	sensors_status_imu.msg
 	system_power.msg
+	takeoff_status.msg
 	task_stack_info.msg
 	tecs_status.msg
 	telemetry_status.msg
 	test_motor.msg
-	takeoff_status.msg
 	timesync.msg
 	timesync_status.msg
 	trajectory_bezier.msg

msg/heater_status.msg

@@ -0,0 +1,19 @@
+uint64 timestamp	# time since system start (microseconds)
+
+uint32 device_id
+
+bool heater_on
+
+float32 temperature_sensor
+float32 temperature_target
+
+uint32 controller_period_usec
+uint32 controller_time_on_usec
+
+float32 proportional_value
+float32 integrator_value
+float32 feed_forward_value
+
+uint8 MODE_GPIO  = 1
+uint8 MODE_PX4IO = 2
+uint8 mode

msg/tools/uorb_rtps_message_ids.yaml

@@ -313,6 +313,8 @@ rtps:
     id: 148
   - msg: takeoff_status
     id: 149
+  - msg: heater_status
+    id: 150
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 170