Lua scripting: EFI monitor addition

SW-61
CarbonixUAV · Feb 5, 2024 · 5b0e581 · 5b0e581
1 parent 4435edf
commit 5b0e581
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Showing 2 changed files with 25 additions and 7 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCubeOrange/scripts/cx_sanity_script.lua b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCubeOrange/scripts/cx_sanity_script.lua
@@ -131,7 +131,7 @@ function init_param()
     return 0
 end
 
-function actuator_telemetry_check()
+function all_telemetry_check()
     local escs = {M1, M2, M3, M4, M5}
 
     if aircraft_type == UNKNOWN then
@@ -143,17 +143,26 @@ function actuator_telemetry_check()
         local current_ts = tostring(esc_telem:get_last_telem_data_ms(escs[i]))
         current_ts = tonumber(current_ts)
         if (i < 5 or aircraft_type == VOLANTI) and (current_ts == 0 or current_ts == esc_prev_ts[i]) then
-            esc_prev_ts[i] = current_ts
             return i
         end
+        if i == 5 and aircraft_type == OTTANO then
+            current_ts =  tostring(efi.get_last_update_ms())
+            current_ts = tonumber(current_ts)
+            if current_ts == 0 or current_ts == esc_prev_ts[i] then
+                return i
+            end
+        end
+        esc_prev_ts[i] = current_ts
     end
     return 0
 end
 
 function pre_arm_check()
     if pre_arm_init then
-        local act_return = actuator_telemetry_check()
-        if act_return ~= 0 then
+        local act_return = all_telemetry_check()
+        if act_return == 5 and aircraft_type == OTTANO then
+            arming:set_aux_auth_failed(auth_id, "EFI Not Responding")
+        elseif act_return ~= 0 then
             arming:set_aux_auth_failed(auth_id, "ESC " .. act_return .. " Not Responding")
         else
             arming:set_aux_auth_passed(auth_id)
@@ -187,18 +196,24 @@ local last_msg_time = 0
 local esc_telem_failure = false
 
 function during_arm_check()
-    local act_return = actuator_telemetry_check()
+    local act_return = all_telemetry_check()
     local current_time = get_time_sec()
 
-    if act_return ~= 0 then
+    if act_return == 5 and aircraft_type == OTTANO then
+        if current_time - last_msg_time >= 15 then
+            gcs_msg(MSG_NORMAL, MAV_SEVERITY_CRITICAL, "EFI Telemetry Not Responding")
+            last_msg_time = current_time
+        end
+
+    else if act_return ~= 0 then
         if current_time - last_msg_time >= 15 then
             gcs_msg(MSG_NORMAL, MAV_SEVERITY_CRITICAL, "ESC " .. act_return .. " Telemetry Not Responding")
             last_msg_time = current_time
             esc_telem_failure = true
         end
     else
         if esc_telem_failure then
-            gcs_msg(MSG_NORMAL, MAV_SEVERITY_CRITICAL, "ESC Telemetry Recovered")
+            gcs_msg(MSG_NORMAL, MAV_SEVERITY_CRITICAL, "Telemetry Recovered")
             clear_msg_sent = false
         end
     end

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -575,6 +575,9 @@ 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----