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hwdef: CarbonixCubeOrange - added cx_built_in_test.lua
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This commit introduces a Lua script, cx_built_in_test.lua, which serves as a Continuous Built-In Test (BIT) for Carbonix Aircrafts. The script checks multiple functionalities and provides the following features:

Firmware version check: The script ensures that the firmware version is at least 5.0.
ESC Status Check and Fault Detection: The script continuously checks the status of the ESC and detects any faults.
Aircraft type detection: The script automatically detects the type of aircraft (either Ottano or Volanti) based on the EFI type.
Pre-arm checks: The script performs several pre-arm checks, including checking the firmware version, initializing parameters, and checking the aircraft type.
During-arm checks: The script performs checks while the aircraft is armed, including checking ESC telemetry and VTOL failure checks.

This script is designed to enhance the safety and reliability of Carbonix Aircrafts by continuously monitoring their status and detecting any potential issues.

SW-61
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@loki077
loki077 authored and Lokesh-Carbonix committed May 10, 2024
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--[[
File Name: cx_built_in_test.lua
Description: This script performs a continuous built-in test for various functionalities on Carbonix Aircrafts, focusing on ESC status check and fault detection.
Owner: [Carbonix - Software Team]
]]

-- ******************* Macros *******************

local SCRIPT_NAME = 'CX_BIT'
local SCRIPT_VERSION = 1.0 -- Script Version


-------- MAVLINK/AUTOPILOT 'CONSTANTS' --------
-- MAVLink Severity Levels
local MAV_SEVERITY_CRITICAL = 2
local MAV_SEVERITY_ERROR = 3
local MAV_SEVERITY_WARNING = 4
local MAV_SEVERITY_INFO = 6

-- Engine Types
local HIRTH_EFI_TYPE = 8

local ESC_WARMUP_TIME = 3000
local SERVO_OUT_THRESHOLD = 1010
local ESC_RPM_THRESHOLD = 10
-- ******************* Variables *******************

local number_of_esc = 5 --default value for Volanti

-- Add a new table to store the warm-up end times for each ESC
local esc_warmup_end_time = {}

local srv_number = {
[1] = {"Motor1", 33},
[2] = {"Motor2", 34},
[3] = {"Motor3", 35},
[4] = {"Motor4", 36},
[5] = {"Motor5", 70},
[6] = {"Motor6", 38},
[7] = {"Elevator", 19},
[8] = {"Rudder", 21},
[9] = {"GPIO", -1},
[10] = {"Script1", 94},
[11] = {"Aileron", 4}
}

local srv_prv_telem_ms = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
local srv_telem_in_err_status = {false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false}
local srv_rpm_in_err_status = {false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false}

-- ******************* Objects *******************

local auth_id = arming:get_aux_auth_id()
assert(auth_id, SCRIPT_NAME .. ": could not get a prearm check auth id")

local params = {
EFI_TYPE = Parameter()
}


-- ******************* Functions *******************

-- wrapper for gcs:send_text()
local function gcs_msg(severity, txt)
if type(severity) == 'string' then
-- allow just a string to be passed for simple/routine messages
txt = severity
severity = MAV_SEVERITY_INFO
end
gcs:send_text(severity, string.format('%s: %s', SCRIPT_NAME, txt))
end

local function check_aircraft_type()
if params.EFI_TYPE:get() == HIRTH_EFI_TYPE then
number_of_esc = 4
else
number_of_esc = 5
end
return true
end

local function init_param()
for param_name, param in pairs(params) do
if not param:init(param_name) then
return false
end
end
return true
end

local function arming_check_init()
-- check param fetch
if not init_param() then
arming:set_aux_auth_failed(auth_id, "Parameter Init Failed")
gcs_msg(MAV_SEVERITY_WARNING, "Parameter Init Failed")
return false
end
-- check aircraft Type
if not check_aircraft_type() then
arming:set_aux_auth_failed(auth_id, "Aircraft Type Check Failed")
gcs_msg(MAV_SEVERITY_WARNING, "Aircraft Type Check Failed")
return false
end
gcs_msg(MAV_SEVERITY_INFO, "Script Version " .. SCRIPT_VERSION .. " Initialized")
arming:set_aux_auth_passed(auth_id)
return true
end

-- Call this function whenever a motor starts running
local function esc_is_started(i)
-- Set the warm-up end time for this ESC to 3 seconds from now
esc_warmup_end_time[i] = millis() + ESC_WARMUP_TIME
end

-- Call this function whenever a motor stops running
local function esc_is_stopped(i)
-- Clear the warm-up end time for this ESC
esc_warmup_end_time[i] = nil
end

local function esc_check_loop()
for i = 1, number_of_esc do
local esc_last_telem_data_ms = esc_telem:get_last_telem_data_ms(i-1):toint()
-- Telem data timestamp check
if not esc_last_telem_data_ms or esc_last_telem_data_ms == 0 or esc_last_telem_data_ms == srv_prv_telem_ms[i] then
if srv_telem_in_err_status[i] == false then
gcs_msg(MAV_SEVERITY_CRITICAL, "ESC " .. i .. " Telemetry Lost")
srv_telem_in_err_status[i] = true
end
else
if srv_telem_in_err_status[i] == true then
gcs_msg(MAV_SEVERITY_INFO, "ESC " .. i .. " Telemetry Recovered")
srv_telem_in_err_status[i] = false
end
if arming:is_armed() then
local esc_rpm = esc_telem:get_rpm(i-1)
local servo_out = SRV_Channels:get_output_pwm(srv_number[i][2])
if esc_rpm and servo_out then
-- If the PWM is below the threshold, consider it a stopped motor situation
if servo_out < SERVO_OUT_THRESHOLD then
esc_is_stopped(i)
-- If the PWM is above the threshold consider it start the motor
elseif servo_out > SERVO_OUT_THRESHOLD and not esc_warmup_end_time[i] then
esc_is_started(i)
-- If the motor is running and the PWM is above the threshold, check the RPM
elseif esc_warmup_end_time[i] and millis() > esc_warmup_end_time[i] then
if servo_out > SERVO_OUT_THRESHOLD and esc_rpm < ESC_RPM_THRESHOLD then
if srv_rpm_in_err_status[i] == false then
gcs_msg(MAV_SEVERITY_CRITICAL, "ESC " .. i .. " RPM Drop")
srv_rpm_in_err_status[i] = true
end
else
if srv_rpm_in_err_status[i] == true then
gcs_msg(MAV_SEVERITY_INFO, "ESC " .. i .. " RPM Recovered")
srv_rpm_in_err_status[i] = false
end
end
end
else
gcs_msg(MAV_SEVERITY_CRITICAL, "ESC " .. i .. " Null Rcout or RPM")
srv_telem_in_err_status[i] = true
end
end
end
if esc_last_telem_data_ms and esc_last_telem_data_ms ~= 0 then
srv_prv_telem_ms[i] = esc_last_telem_data_ms
end
end
end

local function arming_checks()
-- check for status in srv_telem_in_err_status and also CX_SERVO_ERROR bit status
local pre_arm_status = false-- check for status in srv_telem_in_err_status and also CX_SERVO_ERROR bit status
arming:set_aux_auth_passed(auth_id)

for i, status in ipairs(srv_telem_in_err_status) do
if status == true then
arming:set_aux_auth_failed(auth_id, "Actuator ".. i .. " Telemetry Error")
return false
end
end
if pre_arm_status == false then
arming:set_aux_auth_passed(auth_id)
end

end

local function update()
esc_check_loop()
arming_checks()
end

-- wrapper around update(). This calls update() and if update faults
-- then an error is displayed, but the script is not stopped
local function protected_wrapper()
local success, err = pcall(update)
if not success then
gcs_msg(MAV_SEVERITY_ERROR, "Internal Error: " .. err)
-- when we fault we run the update function again after 1s, slowing it
-- down a bit so we don't flood the console with errors
return protected_wrapper, 1000
end
return protected_wrapper, 200
end

local function script_exit()
-- pre arm failure SCRIPT_NAME not Running
arming:set_aux_auth_failed(auth_id, SCRIPT_NAME .. " Not Running")
gcs_msg(MAV_SEVERITY_CRITICAL, "LUA SCRIPT EXIT ... Need Reboot to Reinitialize")
end


-- ******************* Main *******************
if arming_check_init() then
return protected_wrapper, 10000
end

script_exit()

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