LUA : disable esc telem warnings when safety disengage

libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua

@@ -1,9 +1,11 @@
 local cx_msg = require("msg")
 local aircraft_type = require("aircraft")
 
+safety_state = { SAFETY_NONE = 0, SAFETY_DISARMED = 1, SAFETY_ARMED = 2 }
+
 local ESC = {
     name = "ESC",
-
+    
     number_of_esc = 5,
 
     -- CONSTANTS
@@ -17,7 +19,9 @@ local ESC = {
     srv_prv_telem_ms = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
     srv_telem_in_err_status  = {false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false},
     srv_rpm_in_err_status  = {false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false},
-
+
+    prev_safe = safety_state.SAFETY_NONE,
+
     -- Counters to debounce nil checks on esc rpm and servo output, this is a
     -- workaround to avoid giving the pilot a critical warning for an unexplained
     -- one-loop dropout we saw recently
@@ -62,7 +66,7 @@ function ESC:init()
         self.esc_warmup_end_time[i] = nil
         self.srv_prv_telem_ms[i] = 0
     end
-    cx_msg:send(cx_msg.MAV_SEVERITY.INFO, "ESC init (" .. aircraft_type .. ": " .. self.number_of_esc .. " ESCs)")
+    cx_msg:send(cx_msg.MAV_SEVERITY.INFO, "ESC init (" .. aircraft_type .. ": " .. self.number_of_esc .. " ESCs)")   
 end
 
 
@@ -79,6 +83,25 @@ function ESC:esc_is_stopped(i)
 end
 
 function ESC:update()
+    -- When the safety is engaged, the ESCs do not output telemetry
+    local safe = SRV_Channels:get_safety_state()
+    if safe ~= safety_state.SAFETY_DISARMED then
+        self.prev_safe = safe
+        return
+    else
+        if self.prev_safe ~= safety_state.SAFETY_DISARMED then
+            -- Reset all counters and error flags when safety is disarmed
+            for i = 1, self.number_of_esc do
+                self.esc_warmup_end_time[i] = nil
+                self.srv_prv_telem_ms[i] = 0
+                self.srv_telem_in_err_status[i] = false
+                self.srv_rpm_in_err_status[i] = false
+                self.esc_rpm_nil_counter[i] = 0
+                self.servo_out_nil_counter[i] = 0
+            end
+            self.prev_safe = safety_state.SAFETY_DISARMED
+        end
+    end
     for i = 1, self.number_of_esc  do
         local esc_last_telem_data_ms = esc_telem:get_last_telem_data_ms(i-1):toint()
         local esc_rpm = esc_telem:get_rpm(i-1)
@@ -137,7 +160,7 @@ function ESC:update()
                         end
                     end
                 end
-            else
+else
                 self:esc_is_stopped(i)
             end
         end
@@ -150,7 +173,7 @@ end
 
 -- Return error messages
 function ESC:check_for_errors()
-    for _, status in ipairs(self.srv_telem_in_err_status) do
+        for _, status in ipairs(self.srv_telem_in_err_status) do
         if status then
             return {"ESC Telemetry Lost"}
         end