AP_Scripting: Lua bindings for safety checks ESC, MotorsMatrix

This commit introduces Lua bindings for the following methods:

- ESC- `get_last_telem_data_ms`
- MotorMatrix `get_lost_motor`
- MotorMatrix `get_thrust_boost`

Note:
- For get_last_telem_data_ms - CPN reset is reported. But ESC disconnected with CPN is not reported. This needs to be looked into

SW-61

libraries/AP_HAL_ChibiOS/hwdef/CarbonixCubeOrange/scripts/cx_built_in_test.lua

@@ -13,7 +13,7 @@
 
 local SCRIPT_NAME = 'CX_BIT'
 local CX_SANITY_SCRIPT_VERSION = 1.0 -- Script Version
-local CX_PILOT_MIN_FW_VERSION = 5.0 -- Minimum Firmware Version Supported e.g CxPilot 5.0.0 should be mentioned as 5.0
+local CX_PILOT_MIN_FW_VERSION = 4.4 -- Minimum Firmware Version Supported e.g Volanti 4.4.0 should be mentioned as 4.0
 
 
 --------  MAVLINK/AUTOPILOT 'CONSTANTS'  --------
@@ -31,11 +31,6 @@ local MSG_NORMAL = 1    -- 1 for normal status messages
 local MSG_DEBUG  = 2    -- 2 for additional debug messages
 local VERBOSE_MODE = 2  -- 0 to suppress all GCS messages, 1 for normal status messages, 2 for additional debug messages
 
-local M1 = 0
-local M2 = 1
-local M3 = 2
-local M4 = 3
-local M5 = 4
 local WARNING_MSG_TIMEOUT = 15
 
 local UNKNOWN = 0
@@ -47,11 +42,9 @@ local HIRTH_EFI_TYPE = 8
 
 local aircraft_type = UNKNOWN
 
-local pre_arm_init = false
 
 local servo_previous_telem_data_ms = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
 local servo_telem_in_error_status  = {false, false, false, false, false, false, false}
-local motor_in_error_status        = {false, false, false, false, false, false, false}
 local last_motor_lost = -1
 
 local number_of_esc = 5
@@ -111,7 +104,7 @@ local function pre_arm_check_init()
     local version = cx_version:match("(%d+%.%d+)")
 
     -- check if firmware has CxPilot or Volanti or Ottano
-    if cx_version:find("CxPilot") or cx_version:find("Volanti") or cx_version:find("Ottano") then
+    if cx_version:find("CxPilot") or cx_version:find("ArduPlane") or cx_version:find("Volanti") or cx_version:find("Ottano") then
         version = tonumber(version)
         if CX_PILOT_MIN_FW_VERSION > version then
             arming:set_aux_auth_failed(auth_id, string.format('%s Requires: %.1f. Found Version: %s', SCRIPT_NAME, CX_PILOT_MIN_FW_VERSION, version))
@@ -153,7 +146,6 @@ local function pre_arm_check_loop()
             if esc_last_telem_data_ms ~= nil and esc_last_telem_data_ms ~= 0 then
                 servo_previous_telem_data_ms[i] = esc_last_telem_data_ms
             end
-            return -1
         else
             if servo_telem_in_error_status[i] == true then
                 gcs_msg(MSG_NORMAL, MAV_SEVERITY_INFO, "ESC " .. i .. " Telemetry Recovered")
@@ -176,7 +168,12 @@ local function pre_arm_check_loop()
 
     -- check servo
 
-    arming:set_aux_auth_passed(auth_id)
+    for i, status in ipairs(servo_telem_in_error_status) do
+        if status == false then 
+            arming:set_aux_auth_passed(auth_id)
+        end
+    end
+
     return 0
 end
 
@@ -190,20 +187,16 @@ local function vtol_failure_check()
     end
 end
 
-local last_fail_msg_time = 0
-local telem_failure = false
-
 local function during_arm_check_loop()
-    --check ESC Telemetry is done in pre_arm_check_loop
-    vtol_failure_check()
+    if arming:is_armed() then
+        --check ESC Telemetry is done in pre_arm_check_loop
+        vtol_failure_check()
+    end
 end
 
 local function update()
     pre_arm_check_loop()
-
-    if arming:is_armed() then
-        during_arm_check_loop()
-    end
+    during_arm_check_loop()
 end
 
 -- wrapper around update(). This calls update() and if update faults
@@ -225,24 +218,23 @@ local function script_exit()
     gcs_msg(MSG_NORMAL, MAV_SEVERITY_CRITICAL, "LUA SCRIPT EXIT   ... Need Reboot to Reinitialize")
 end
 
-local function test_print_esc_telem()
-    local val = tostring(esc_telem:get_last_telem_data_ms(0):toint())
-    gcs:send_text(0, "ESC 0 Telemetry: " .. val)
-    val = tostring(esc_telem:get_last_telem_data_ms(1):toint())
-    gcs:send_text(0, "ESC 1 Telemetry: " .. val)
-    val = tostring(esc_telem:get_last_telem_data_ms(2):toint())
-    gcs:send_text(0, "ESC 2 Telemetry: " .. val)
-    val = tostring(esc_telem:get_last_telem_data_ms(3):toint())
-    gcs:send_text(0, "ESC 3 Telemetry: " .. val)
-    return test, 500
-end
+-- local function test_print_esc_telem()
+--     local val = tostring(esc_telem:get_last_telem_data_ms(0):toint())
+--     gcs:send_text(0, "ESC 0 Telemetry: " .. val)
+--     val = tostring(esc_telem:get_last_telem_data_ms(1):toint())
+--     gcs:send_text(0, "ESC 1 Telemetry: " .. val)
+--     val = tostring(esc_telem:get_last_telem_data_ms(2):toint())
+--     gcs:send_text(0, "ESC 2 Telemetry: " .. val)
+--     val = tostring(esc_telem:get_last_telem_data_ms(3):toint())
+--     gcs:send_text(0, "ESC 3 Telemetry: " .. val)
+--     return test, 500
+-- end
+-- return test_print_esc_telem()
 
 -- ******************* Main *******************
 gcs_msg(MSG_NORMAL, MAV_SEVERITY_INFO, "Script Version " .. CX_SANITY_SCRIPT_VERSION .. " Running")
 if pre_arm_check_init() == 0 then
     return protected_wrapper()
 end
 
--- return test_print_esc_telem()
-
-script_exit()
+script_exit()

libraries/AP_Scripting/generator/description/bindings.desc

@@ -304,6 +304,7 @@ singleton AP_ESC_Telem method get_current boolean uint8_t 0 NUM_SERVO_CHANNELS f
 singleton AP_ESC_Telem method get_voltage boolean uint8_t 0 NUM_SERVO_CHANNELS float'Null
 singleton AP_ESC_Telem method get_consumption_mah boolean uint8_t 0 NUM_SERVO_CHANNELS float'Null
 singleton AP_ESC_Telem method get_usage_seconds boolean uint8_t 0 NUM_SERVO_CHANNELS uint32_t'Null
+singleton AP_ESC_Telem method get_last_telem_data_ms uint32_t uint8_t 0 NUM_SERVO_CHANNELS
 
 include AP_Param/AP_Param.h
 singleton AP_Param alias param
@@ -383,6 +384,8 @@ singleton AP_MotorsMatrix alias MotorsMatrix
 singleton AP_MotorsMatrix method init boolean uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
 singleton AP_MotorsMatrix method add_motor_raw void int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float'skip_check float'skip_check float'skip_check uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
 singleton AP_MotorsMatrix method set_throttle_factor boolean int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float 0 FLT_MAX
+singleton AP_MotorsMatrix method get_lost_motor uint8_t
+singleton AP_MotorsMatrix method get_thrust_boost boolean
 
 include AP_Frsky_Telem/AP_Frsky_SPort.h
 singleton AP_Frsky_SPort alias frsky_sport