Enable the aksim2 diagnostic

[valegagge]

After some tests performed on the medium joint, @sgiraz and I noticed that the ems fw doesn't enable the aksim2 diagnostic.

Since these are the first tests carried on a complete setup with aksim2, I suggest enabling always on the diagnostic on such encoder.

It is possible to enable it from the configuration files or some code changes are required?

Moreover, I'd like to ask if it is possible (without much effort) to improve the diagnostic in order to report all errors related to the encoder and not only the last occurred error.

cc @marcoaccame @sgiraz

[valegagge]

This task has been accomplished in these two PR:

• icub-firmware: Improved diagnostics for AksIM2 encoder #341
• icub-firmware-shared: Improved diagnostics for AksIM2 encoder extending existing data structures icub-firmware-shared#77.

The new fw is running correctly on the medium joint setup , therefore I'm closing this issue.