LUA : restructure to manage prearm-checks

CarbonixUAV · Dec 30, 2024 · 0afcc7c · 0afcc7c
1 parent 8ca2895
commit 0afcc7c
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Showing 12 changed files with 420 additions and 247 deletions.
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
@@ -440,19 +440,49 @@ def __init__(self):
                 "waf_target": "bin/arduplane",
                 "model": "quadplane:@ROMFS/models/Ottano.json",
                 "default_params_filename": "../../build/ottano-headless.parm",
-                "scripts": ["../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua"],
+                "scripts": [
+                    "../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua",
+                    (
+                        "../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/*.lua",
+                        "modules"
+                    ),
+                    (
+                        "../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/ottano.lua",
+                        "modules/aircraft.lua"
+                    ),
+                ],
             },
             "volanti-headless": {
                 "waf_target": "bin/arduplane",
                 "model": "quadplane:@ROMFS/models/Volanti.json",
                 "default_params_filename": "../../build/volanti-headless.parm",
-                "scripts": ["../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua"],
+                "scripts": [
+                    "../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua",
+                    (
+                        "../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/*.lua",
+                        "modules"
+                    ),
+                    (
+                        "../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua",
+                        "modules/aircraft.lua"
+                    ),
+                ],
             },
             "volanti-realflight": {
                 "waf_target": "bin/arduplane",
                 "model": "flightaxis",
                 "default_params_filename": "../../build/volanti-realflight.parm",
-                "scripts": ["../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua"],
+                "scripts": [
+                    "../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua",
+                    (
+                        "../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/*.lua",
+                        "modules"
+                    ),
+                    (
+                        "../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua",
+                        "modules/aircraft.lua"
+                    ),
+                ],
                 "external": True,
             }
         },

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Ottano_AC_1.xml b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Ottano_AC_1.xml
@@ -139,5 +139,17 @@
             <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
             <destination_path>cx_vtol_info.lua</destination_path>
         </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
+            <destination_path>modules/bit_esc.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
+            <destination_path>modules/msg.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/ottano.lua</source_path>
+            <destination_path>modules/aircraft.lua</destination_path>
+        </lua_script>
     </lua_script_list>
 </data>
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Ottano_AC_2.xml b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Ottano_AC_2.xml
@@ -139,5 +139,17 @@
             <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
             <destination_path>cx_vtol_info.lua</destination_path>
         </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
+            <destination_path>modules/bit_esc.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
+            <destination_path>modules/msg.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/ottano.lua</source_path>
+            <destination_path>modules/aircraft.lua</destination_path>
+        </lua_script>
     </lua_script_list>
 </data>
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Volanti_AC_1.xml b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Volanti_AC_1.xml
@@ -109,5 +109,17 @@
             <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
             <destination_path>cx_vtol_info.lua</destination_path>
         </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
+            <destination_path>modules/bit_esc.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
+            <destination_path>modules/msg.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua</source_path>
+            <destination_path>modules/aircraft.lua</destination_path>
+        </lua_script>
     </lua_script_list>
 </data>
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Volanti_AC_2.xml b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Volanti_AC_2.xml
@@ -120,5 +120,17 @@
             <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
             <destination_path>cx_vtol_info.lua</destination_path>
         </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
+            <destination_path>modules/bit_esc.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
+            <destination_path>modules/msg.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua</source_path>
+            <destination_path>modules/aircraft.lua</destination_path>
+        </lua_script>
     </lua_script_list>
 </data>
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Volanti_AC_3.xml b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Volanti_AC_3.xml
@@ -120,5 +120,17 @@
             <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
             <destination_path>cx_vtol_info.lua</destination_path>
         </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
+            <destination_path>modules/bit_esc.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
+            <destination_path>modules/msg.lua</destination_path>
+        </lua_script>
+        <lua_script>
+            <source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua</source_path>
+            <destination_path>modules/aircraft.lua</destination_path>
+        </lua_script>
     </lua_script_list>
 </data>
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
@@ -119,8 +119,8 @@ RTL_RADIUS,200
 SCHED_LOOP_RATE,200         # Loop Rate for Control in flight Controller set to 200Hz from 400Hz Results SW-171.
 SCR_ENABLE,1
 SCR_HEAP_SIZE,200000
-SCR_LD_CHECKSUM,8357358
-SCR_RUN_CHECKSUM,8357358
+SCR_LD_CHECKSUM,1341533
+SCR_RUN_CHECKSUM,1341533
 SCR_VM_I_COUNT,100000
 SERVO1_FUNCTION,33 # Motor 1
 SERVO10_FUNCTION,4 # Aileron R

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/ottano.lua b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/ottano.lua
@@ -0,0 +1 @@
+return "Ottano"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua
@@ -0,0 +1 @@
+return "Volanti"