WIP - Lua Scripts: Implement Aircraft Sanity Checks and LED Control in Lua

[loki077]

This is an early PR for getting feedback on implementation.
This has been tested on SITL and Cube IronBird testing pending.

• Renamed CX_LED_driver.lua file to cx_sanity_script to cover the scope of the script future functionality.

The key features implemented in this script include:

• Base Firmware Version: Compare of Firmware version to CxPilot base version to check LUA dependencies are present.
• Pre-Arm Checks: Before the vehicle is armed, the script performs a series of checks including auth access, parameter initialization and aircraft type check(Volanti or Ottano).
• ESC/EFI Status Check and Fault Detection: Checks the delta between ESC/EFI telemetry of each ESC/EFI and reports if any one is not responding during PreArm and flight.
• Aircraft Type Detection: The script checks certain parameters to determine the type of aircraft (Volanti or Ottano) and reports if the aircraft type is unknown.
• During-Arm Checks: Once the vehicle is armed, the script continues to monitor the ESC and EFI telemetry and reports any failures.
• VTOL Failure Check: The script checks for lost motor thrust and reports any failure.
• NAV Wing End LED Operation Control: The script checks the arming status of the vehicle and sets the LED accordingly.

SW-61

[robertlong13]

We need to do something if this returns nil. Should repeatedly fire off GCS high severity warnings. If we don't get an auth id, then we can't cause prearm failures.

[robertlong13]

We don't want to do an assert, because that will just kill the script with a single warning message and it would be easy to miss.

[robertlong13]

Nevermind! AP_Arming fails the prearm checks if anything tries and fails to get an aux_auth (obviously; I don't know why I assumed they wouldn't).

[loki077]

I am already doing that check in function pre_arm_check()

[robertlong13]

I was going to make a similar comment. The check Pradeep proposes isn't quite right, but basically, if no EFI type, then we are Volanti.

We have CAN bus routing plans in the near future. Let's decouple any ESC bitmask params from this check.

[robertlong13]

I see how this is working now. Essentially, our script's loop rate determines our timeout threshold. We should do an actual time difference.

[robertlong13]

I'm not familiar with this. require is a library loading thing, right? I thought we could do this without explicitly loading anything.

[robertlong13]

Why do we have this check? This means that if we somehow get armed while this is false, we stop running our in-flight checks forever, and that happens silently.