# Description

Previously, the contact sensor only measured the air time (last_air_time
and current_air_time). In this PR, the book keeps both the air-time and
contact time. Moreover, the arbitrary thresholding for detecting contact
is changed to a config parameter.

This is currently a non-breaking feature. But I suggest renaming
`ContactSensorCfg.track_air_time` to `ContactSensorCfg.track_intervals`.
This will make the PR a breaking feature.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [X] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [X] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Farbod Farshidian <ffarshidian@theaiinstitute.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>