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AP_Scripting: Add trisonica LI550 3D wind sensor logger
Signed-off-by: Ryan Friedman <[email protected]>
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‎libraries/AP_Scripting/examples/trisonica-mini.lua

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-- Script decodes and logs wind sensor data for Trisonica LI-550 mini
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-- https://www.licor.com/products/trisonica/LI-550-mini
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-- Parameters:
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-- SCR_ENABLE 1
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-- SERIAL5_PROTOCOL 28
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-- In SITL, you can enable serial ports to connect to the real device.
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-- https://ardupilot.org/dev/docs/learning-ardupilot-uarts-and-the-console.html#the-8-uarts
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-- ./Tools/autotest/sim_vehicle.py -v Plane --console --map -A "--serial5=uart:/dev/ttyUSB0" -D
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-- Remember to change baud to 230k in the sensor setup and enable the fields you want.
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-- Also, enable 10Hz output instead of the default 5Hz.
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-- Example data string (excluding quotes, excluding the carriage return line feed ending)
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-- "S 00.08 S2 00.07 D 245 DV 033 U 00.06 V 00.03 W 00.05 T 55889220.00 C 346.68 H 17.92 DP 03.68 P -099.70 AD 0.0000000 AX -2913 AY -3408 AZ -16600 PI 011.4 RO 009.8 MX -619 MY 845 MZ 782 MD 337 TD 337"
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-- Log severities
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local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
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-- find the serial first (0) scripting serial port instance
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local port = serial:find_serial(0)
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if not port then
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gcs:send_text(MAV_SEVERITY.EMERGENCY, "no trisonica scripting port")
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return
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end
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-- begin the serial port
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port:begin(230400)
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port:set_flow_control(0)
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local function parse_wind_data(buf)
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-- Split the string up into key and values splitting on the default space delimiter.
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local parsed_values = {}
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-- Match any key-value pair where key is a string and value is a number
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for key, value in buf:gmatch("(%a+)%s*([%-%.%d]+)") do
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parsed_values[key] = tonumber(value) -- Store key-value pair in the table
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end
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return parsed_values
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end
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local tag_ids = nil
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local tag_id_str = ""
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local value_format = ""
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local last_keys = nil
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local function log_wind_data(parsed)
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-- Given a table of parsed data, log it.
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-- Collect keys from parsed and store as a list
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local current_keys = {}
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for k in pairs(parsed) do
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table.insert(current_keys, k)
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end
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table.sort(current_keys)
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-- First packet, we must set last_keys.
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if not last_keys then
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last_keys = current_keys
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return
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end
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-- Bail early if the first packet parsed only contained some of the keys.
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-- After the 2nd packet, it will stabilize.
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if #current_keys ~= #last_keys then
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last_keys = current_keys
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return
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end
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for i = 1, #current_keys do
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if current_keys[i] ~= last_keys[i] then
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last_keys = current_keys
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return
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end
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end
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-- Keys are now stable, so store them as tag_ids
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if not tag_ids then
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tag_ids = current_keys
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tag_id_str = table.concat(tag_ids, ',')
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value_format = string.rep('f', #tag_ids)
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gcs:send_text(MAV_SEVERITY.INFO, "Using tag_ids: " .. tag_id_str)
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end
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-- Build ordered values from tag_ids
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local values = {}
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for _, tag_id in ipairs(tag_ids) do
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table.insert(values, parsed[tag_id] or 0)
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end
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assert(#tag_ids < 15, "#tag_ids=" .. #tag_ids)
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logger:write('W3D', tag_id_str, value_format, table.unpack(values))
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end
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local buffer = ""
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-- the main update function that is used to read in data from serial port
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local function update()
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local n_bytes = port:available()
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while n_bytes > 0 do
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local byte = port:read()
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if byte > -1 then
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local c = string.char(byte)
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buffer = buffer .. c
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--ignore the \n because \r is sufficient to end parsing.
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if c == "\r" then
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local result = parse_wind_data(buffer)
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log_wind_data(result)
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buffer = ""
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end
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end
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n_bytes = n_bytes - 1
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end
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return update, 100
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end
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gcs:send_text(MAV_SEVERITY.INFO, "trisonica-mini.lua running...")
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return update, 100

‎libraries/AP_Scripting/examples/trisonicia-mini.md

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# Trisonica LI-550 Mini Wind Sensor Logger
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This Lua script reads and logs wind sensor data from the **Trisonica LI-550 Mini** ultrasonic wind sensor connected via serial. It decodes ASCII-formatted key-value pairs and logs the data using dynamic field tags on the `W3D` logging stream.
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For sensor details, visit:
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🔗 https://www.licor.com/products/trisonica/LI-550-mini
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## Features
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- Parses and logs ASCII data strings from the Trisonica LI-550 Mini in BIN logs
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- Logs fields using a dynamically generated tag list from the **first packet**
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- Ignores extraneous fields in subsequent messages not present in the first
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- Compatible with **ArduPilot scripting serial port** interface
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- Supports high-speed 230400 baud data stream
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- Uses BIN log name `W3D` for all data
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## Parameters
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Set the following parameters:
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| Parameter | Value | Description |
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|----------------|----------|--------------------------------|
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| `SCR_ENABLE` | `1` | Enable Lua scripting |
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| `SERIALx_PROTOCOL` | `28` | Scripting protocol for SERIALx |
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> Replace `SERIALx` with the appropriate serial port used on your hardware.
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## Sensor configuration
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Use Trisonica's [CLI](logger:write) to configure the unit. On Linux, you can use `screen` to interract with the device:
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```bash
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screen /dev/ttyUSB0 230400
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```
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You should see data displayed. Enter configuration mode with `Ctrl+C`.
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You should now see data streaming stop and a terminal prompt `>`.
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Set the Trisonica sensor baudrate to **230400** in its configuration software using the `baudrate` command like so:
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```bash
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baudrate 230400
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```
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You must also **enable all fields you want to log**. A recommended set is as follows. See the `Enabled` column.
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```bash
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display
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```
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```
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-----------------------------------------------------------------------------------------
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| Name | Description | Tagged | Tag | Decimals | Enabled | Units |
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-----------------------------------------------------------------------------------------
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| IDTag | ID Tag | Yes | | | | |
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| S | Wind Speed 3D | Yes | S | 2 | | m/s |
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| S2D | Wind Speed 2D | Yes | S2 | 2 | | m/s |
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| D | Horiz Wind Direction | Yes | D | 0 | | Degrees |
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| DV | Vert Wind Direction | Yes | DV | 0 | | Degrees |
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| U | U Vector | Yes | U | 2 | Yes | m/s |
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| V | V Vector | Yes | V | 2 | Yes | m/s |
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| W | W Vector | Yes | W | 2 | Yes | m/s |
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| T | Temperature | Yes | T | 2 | Yes | C |
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| Cs | Speed of Sound | Yes | C | 2 | | m/s |
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| RHTemp | RH Temp Sensor | Yes | RHST | 2 | | C |
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| RH | RH Humidity Sensor | Yes | RHSH | 2 | | % |
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| H | Humidity | Yes | H | 2 | Yes | % |
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| DP | DewPoint | Yes | DP | 2 | | C |
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| PTemp | Pressure Temp Sensor | Yes | PST | 2 | | C |
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| P | Pressure Sensor | Yes | P | | Yes | hPa |
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| Density | Air Density | Yes | AD | | Yes | kg/m^3 |
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| LevelX | Level X | Yes | AX | | Yes | |
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| LevelY | Level Y | Yes | AY | | Yes | |
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| LevelZ | Level Z | Yes | AZ | | Yes | |
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| Pitch | Pitch | Yes | PI | 1 | Yes | Degrees |
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| Roll | Roll | Yes | RO | 1 | Yes | Degrees |
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| CTemp | Compass Temp | Yes | MT | 1 | | C |
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| MagX | Compass X | Yes | MX | | | |
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| MagY | Compass Y | Yes | MY | | | |
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| MagZ | Compass Z | Yes | MZ | | | |
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| Heading | Compass Heading | Yes | MD | 0 | Yes | Degrees |
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| TrueHead | True Heading | Yes | TD | 0 | Yes | Degrees |
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-----------------------------------------------------------------------------------------
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```
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You can enable tags like so:
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```bash
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show T
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```
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Or disable them from the data stream like so:
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```bash
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hide T
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```
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You must not enable more than 12 outputs due to limitations in this script and ArduPilot's dataflash logger.
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Finally, increase the output rate to the maximum of **10 Hz**.
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```bash
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outputrate 10
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```
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Once configuration is complete, exit screen with
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```bash
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ctr+A k y
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```
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If you take longer than a minute to configure, the unit will re-enter streaming mode.
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## SITL Testing
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You can connect a real serial device to SITL using a passthrough UART setup.
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For example, using SERIAL5 connected to ttyUSB0.
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```bash
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./Tools/autotest/sim_vehicle.py -v Plane --console --map -A "--serial5=uart:/dev/ttyUSB0" -D
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```
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Then view the `W3D` entries in your favorite dataflash (BIN) log analyzer.
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For MAVExplorer, try graphing wind speeds against airspeed.
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```bash
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graph W3D.U W3D.W W3D.V ARSP.Airspeed
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```
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## Future Improvements
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* Use the wind data as input to the EKF for wind speed
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* Use the Trisonica API to have ArduPilot configure the correct data outputs and rates

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