Lua bindings for safety checks

.github/workflows/carbonix_build.yml

@@ -197,7 +197,9 @@ jobs:
         run: sudo apt-get install zip
       - name: Archive build output
         run: |
-          zip -r build-output.zip build/
+          echo build/*/bin/ | xargs -n 1 cp -v ArduPlane/ReleaseNotes.txt
+          cp -v ArduPlane/ReleaseNotes.txt build/
+          zip -r build-output.zip build/*/bin/*
       - name: Archive production artifacts
         uses: actions/upload-artifact@v3
         with:

libraries/AP_EFI/AP_EFI_Serial_Hirth.cpp

@@ -190,6 +190,7 @@ void AP_EFI_Serial_Hirth::send_request()
 bool AP_EFI_Serial_Hirth::send_target_values(uint16_t thr)
 {
     uint8_t computed_checksum = 0;
+    throttle = 0;
 
     // clear buffer
     memset(raw_data, 0, ARRAY_SIZE(raw_data));
@@ -199,7 +200,7 @@ bool AP_EFI_Serial_Hirth::send_target_values(uint16_t thr)
     thr = linearise_throttle(thr);
 #endif
 
-    const uint16_t throttle = thr * THROTTLE_POSITION_FACTOR;
+    throttle = thr * THROTTLE_POSITION_FACTOR;
 
     uint8_t idx = 0;
 
@@ -354,23 +355,24 @@ void AP_EFI_Serial_Hirth::log_status(void)
     // @LoggerMessage: EFIS
     // @Description: Electronic Fuel Injection data - Hirth specific Status information
     // @Field: TimeUS: Time since system startup
-    // @Field: ETS1: Status of EGT1 excess temperature error
-    // @Field: ETS2: Status of EGT2 excess temperature error
-    // @Field: CTS1: Status of CHT1 excess temperature error
-    // @Field: CTS2: Status of CHT2 excess temperature error
-    // @Field: ETSS: Status of Engine temperature sensor
-    // @Field: ATSS: Status of Air temperature sensor
-    // @Field: APSS: Status of Air pressure sensor
+    // @Field: ES1: Status of EGT1 excess temperature error
+    // @Field: ES2: Status of EGT2 excess temperature error
+    // @Field: CS1: Status of CHT1 excess temperature error
+    // @Field: CS2: Status of CHT2 excess temperature error
+    // @Field: ETS: Status of Engine temperature sensor
+    // @Field: ATS: Status of Air temperature sensor
+    // @Field: APS: Status of Air pressure sensor
     // @Field: TSS: Status of Temperature sensor
-    // @Field: CRCF: CRC failure count
-    // @Field: AckF: ACK failure count
+    // @Field: CRF: CRC failure count
+    // @Field: AKF: ACK failure count
     // @Field: Up: Uptime between 2 messages
-    // @Field: ThrO: Throttle output as received by the engine
+    // @Field: ThO: Throttle output as received by the engine
+    // @Field: ThM: Modified Throttle output sent to the engine
     AP::logger().WriteStreaming("EFIS",
-                                "TimeUS,ETS1,ETS2,CTS1,CTS2,ETSS,ATSS,APSS,TSS,CRCF,AckF,Up,ThrO",
-                                "s------------",
-                                "F------------",
-                                "QBBBBBBBBIIIf",
+                                "TimeUS,ES1,ES2,CS1,CS2,ETS,ATS,APS,TSS,CRF,AKF,Up,ThO,ThM",
+                                "s-------------",
+                                "F-------------",
+                                "QBBBBBBBBIIIfH",
                                 AP_HAL::micros64(),
                                 uint8_t(EGT_1_error_excess_temperature_status),
                                 uint8_t(EGT_2_error_excess_temperature_status),
@@ -383,7 +385,8 @@ void AP_EFI_Serial_Hirth::log_status(void)
                                 uint32_t(crc_fail_cnt),
                                 uint32_t(ack_fail_cnt),
                                 uint32_t(uptime),
-                                float(internal_state.throttle_out));
+                                float(internal_state.throttle_out),
+                                uint16_t(throttle));
 }
 #endif // HAL_LOGGING_ENABLED
 

libraries/AP_EFI/AP_EFI_Serial_Hirth.h

@@ -62,6 +62,7 @@ class AP_EFI_Serial_Hirth: public AP_EFI_Backend {
 
     // Throttle values
     uint16_t last_throttle;
+    uint16_t throttle;
 
     uint32_t last_fuel_integration_ms;
 

libraries/AP_Logger/AP_Logger.h

@@ -309,6 +309,8 @@ class AP_Logger
     void Write_Message(const char *message);
     void Write_MessageF(const char *fmt, ...);
     void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct);
+    void Write_PowerCktStatus(uint64_t time_us, uint8_t id, float voltage, float current, uint8_t error_flags);
+    void Write_DeviceTemperature(uint64_t time_us, uint8_t id, float temperature, uint8_t error_flags);
     void Write_Compass();
     void Write_Mode(uint8_t mode, const ModeReason reason);
 

libraries/AP_Logger/LogFile.cpp

@@ -453,6 +453,36 @@ void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position,
     WriteBlock(&pkt, sizeof(pkt));
 }
 
+/*
+  write servo voltage status from CAN servo
+ */
+void AP_Logger::Write_PowerCktStatus(uint64_t time_us, uint8_t id, float voltage, float current, uint8_t error_flags)
+{
+    const struct log_CSVI pkt {
+        LOG_PACKET_HEADER_INIT(LOG_CSVI_MSG),
+        time_us     : time_us,
+        id          : id,
+        voltage     : voltage,
+        current     : current,
+        error_flags : error_flags
+    };
+    WriteBlock(&pkt, sizeof(pkt));
+}
+
+/*
+  write servo Temperature datafrom CAN servo
+ */
+void AP_Logger::Write_DeviceTemperature(uint64_t time_us, uint8_t id, float temperature, uint8_t error_flags)
+{
+    const struct log_TEMP pkt {
+        LOG_PACKET_HEADER_INIT(LOG_TEMP_MSG),
+        time_us     : time_us,
+        device_id   : id,
+        temperature : temperature,
+        error_flags : error_flags
+    };
+    WriteBlock(&pkt, sizeof(pkt));
+}
 
 // Write a Yaw PID packet
 void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)

libraries/AP_Logger/LogStructure.h

@@ -487,6 +487,23 @@ struct PACKED log_CSRV {
     uint8_t power_pct;
 };
 
+struct PACKED log_CSVI {
+  LOG_PACKET_HEADER;
+  uint64_t time_us;
+  uint8_t id;
+  float voltage;
+  float current;
+  uint8_t error_flags;
+};
+
+struct PACKED log_TEMP {
+  LOG_PACKET_HEADER;
+  uint64_t time_us;
+  uint8_t device_id;
+  float temperature;
+  uint8_t error_flags;
+};
+
 struct PACKED log_ARSP {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -1271,6 +1288,10 @@ LOG_STRUCTURE_FROM_AVOIDANCE \
 LOG_STRUCTURE_FROM_ESC_TELEM \
     { LOG_CSRV_MSG, sizeof(log_CSRV), \
       "CSRV","QBfffB","TimeUS,Id,Pos,Force,Speed,Pow", "s#---%", "F-0000", true }, \
+    { LOG_CSVI_MSG, sizeof(log_CSVI), \
+      "CSVI","QBffB","TimeUS,CId,vol,cur,err", "s#--%", "F-000", true }, \
+    { LOG_TEMP_MSG, sizeof(log_TEMP), \
+      "TEMP","QBfB","TimeUS,CId,tmp,err", "s#-%", "F-00", true }, \
     { LOG_PIDR_MSG, sizeof(log_PID), \
       "PIDR", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS, true },  \
     { LOG_PIDP_MSG, sizeof(log_PID), \
@@ -1358,6 +1379,8 @@ enum LogMessages : uint8_t {
     LOG_IDS_FROM_CAMERA,
     LOG_TERRAIN_MSG,
     LOG_CSRV_MSG,
+    LOG_CSVI_MSG,
+    LOG_TEMP_MSG,
     LOG_IDS_FROM_ESC_TELEM,
     LOG_IDS_FROM_BATTMONITOR,
     LOG_IDS_FROM_HAL_CHIBIOS,

libraries/AP_Scripting/generator/description/bindings.desc

@@ -314,6 +314,7 @@ singleton AP_ESC_Telem method get_consumption_mah boolean uint8_t 0 NUM_SERVO_CH
 singleton AP_ESC_Telem method get_usage_seconds boolean uint8_t 0 NUM_SERVO_CHANNELS uint32_t'Null
 singleton AP_ESC_Telem method update_rpm void uint8_t 0 NUM_SERVO_CHANNELS uint16_t'skip_check float'skip_check
 singleton AP_ESC_Telem method set_rpm_scale void uint8_t 0 NUM_SERVO_CHANNELS float'skip_check
+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 rename param
@@ -393,6 +394,8 @@ singleton AP_MotorsMatrix rename 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 rename frsky_sport
@@ -572,6 +575,7 @@ ap_object AP_EFI_Backend method handle_scripting boolean EFI_State
 singleton AP_EFI depends (AP_EFI_SCRIPTING_ENABLED == 1)
 singleton AP_EFI rename efi
 singleton AP_EFI method get_backend AP_EFI_Backend uint8_t 0 UINT8_MAX
+singleton AP_EFI method get_last_update_ms uint32_t 
 
 -- ----END EFI Library----
 

libraries/AP_UAVCAN/AP_UAVCAN.cpp

@@ -30,6 +30,8 @@
 #include <uavcan/equipment/actuator/ArrayCommand.hpp>
 #include <uavcan/equipment/actuator/Command.hpp>
 #include <uavcan/equipment/actuator/Status.hpp>
+#include <uavcan/equipment/power/CircuitStatus.hpp>
+#include <uavcan/equipment/device/Temperature.hpp>
 
 #include <uavcan/equipment/esc/RawCommand.hpp>
 #include <uavcan/equipment/esc/Status.hpp>
@@ -190,6 +192,14 @@ static uavcan::Subscriber<ardupilot::equipment::trafficmonitor::TrafficReport, T
 UC_REGISTRY_BINDER(ActuatorStatusCb, uavcan::equipment::actuator::Status);
 static uavcan::Subscriber<uavcan::equipment::actuator::Status, ActuatorStatusCb> *actuator_status_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS];
 
+// handler power circuit status
+UC_REGISTRY_BINDER(PowerCktStatusCb, uavcan::equipment::power::CircuitStatus);
+static uavcan::Subscriber<uavcan::equipment::power::CircuitStatus, PowerCktStatusCb> *power_cktstatus_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS];
+
+// handler device temperature and error flag status
+UC_REGISTRY_BINDER(DeviceTemperatureCb, uavcan::equipment::device::Temperature);
+static uavcan::Subscriber<uavcan::equipment::device::Temperature, DeviceTemperatureCb> *device_temperature_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS];
+
 // handler ESC status
 UC_REGISTRY_BINDER(ESCStatusCb, uavcan::equipment::esc::Status);
 static uavcan::Subscriber<uavcan::equipment::esc::Status, ESCStatusCb> *esc_status_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS];
@@ -407,6 +417,16 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
         actuator_status_listener[driver_index]->start(ActuatorStatusCb(this, &handle_actuator_status));
     }
 
+    power_cktstatus_listener[driver_index] = new uavcan::Subscriber<uavcan::equipment::power::CircuitStatus, PowerCktStatusCb>(*_node);
+    if (power_cktstatus_listener[driver_index]) {
+        power_cktstatus_listener[driver_index]->start(PowerCktStatusCb(this, &handle_power_cktstatus));
+    }
+
+    device_temperature_listener[driver_index] = new uavcan::Subscriber<uavcan::equipment::device::Temperature, DeviceTemperatureCb>(*_node);
+    if (device_temperature_listener[driver_index]) {
+        device_temperature_listener[driver_index]->start(DeviceTemperatureCb(this, &handle_device_temperature));
+    }
+
     esc_status_listener[driver_index] = new uavcan::Subscriber<uavcan::equipment::esc::Status, ESCStatusCb>(*_node);
     if (esc_status_listener[driver_index]) {
         esc_status_listener[driver_index]->start(ESCStatusCb(this, &handle_ESC_status));
@@ -1001,6 +1021,31 @@ void AP_UAVCAN::handle_actuator_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, co
                                    cb.msg->power_rating_pct);
 }
 
+/*
+  handle actuator voltage and current message
+ */
+void AP_UAVCAN::handle_power_cktstatus(AP_UAVCAN* ap_uavcan, uint8_t node_id, const PowerCktStatusCb &cb)
+{
+    // log as CSVI message
+    AP::logger().Write_PowerCktStatus(AP_HAL::native_micros64(),
+                                   cb.msg->circuit_id,
+                                   cb.msg->voltage,
+                                   cb.msg->current,
+                                   cb.msg->error_flags);
+}
+
+/*
+  handle actuator temperature message
+ */
+void AP_UAVCAN::handle_device_temperature(AP_UAVCAN* ap_uavcan, uint8_t node_id, const DeviceTemperatureCb &cb)
+{
+    // log as CSTE message
+    AP::logger().Write_DeviceTemperature(AP_HAL::native_micros64(),
+                                   cb.msg->device_id,
+                                   cb.msg->temperature,
+                                   cb.msg->error_flags);
+}
+
 /*
   handle ESC status message
  */

libraries/AP_UAVCAN/AP_UAVCAN.h

@@ -48,6 +48,8 @@
 class ButtonCb;
 class TrafficReportCb;
 class ActuatorStatusCb;
+class PowerCktStatusCb;
+class DeviceTemperatureCb;
 class ESCStatusCb;
 class DebugCb;
 class ParamGetSetCb;
@@ -341,6 +343,8 @@ class AP_UAVCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     static void handle_button(AP_UAVCAN* ap_uavcan, uint8_t node_id, const ButtonCb &cb);
     static void handle_traffic_report(AP_UAVCAN* ap_uavcan, uint8_t node_id, const TrafficReportCb &cb);
     static void handle_actuator_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, const ActuatorStatusCb &cb);
+    static void handle_power_cktstatus(AP_UAVCAN* ap_uavcan, uint8_t node_id, const PowerCktStatusCb &cb);
+    static void handle_device_temperature(AP_UAVCAN* ap_uavcan, uint8_t node_id, const DeviceTemperatureCb &cb);
     static void handle_ESC_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, const ESCStatusCb &cb);
     static bool is_esc_data_index_valid(const uint8_t index);
     static void handle_debug(AP_UAVCAN* ap_uavcan, uint8_t node_id, const DebugCb &cb);