AP_Scripting: Add trisonica LI550 3D wind sensor logger

Signed-off-by: Ryan Friedman <[email protected]>

Author: Ryanf55

libraries/AP_Scripting/applets/trisonica-mini.lua

@@ -0,0 +1,100 @@
+-- Script decodes and logs wind sensor data for Trisonica LI-550 mini
+-- https://www.licor.com/products/trisonica/LI-550-mini
+
+-- Parameters:
+-- SCR_ENABLE 1
+-- SERIAL5_PROTOCOL 28
+
+-- In SITL, you can enable serial ports to connect to the real device.
+-- https://ardupilot.org/dev/docs/learning-ardupilot-uarts-and-the-console.html#the-8-uarts
+-- ./Tools/autotest/sim_vehicle.py -v Plane --console --map -A "--serial5=uart:/dev/ttyUSB0" -D
+
+-- Remember to change baud to 230k in the sensor setup and enable the fields you want.
+-- Also, enable 10Hz output instead of the default 5Hz.
+
+-- Example data string (excluding quotes, including the carriage return line feed ending)
+-- "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"
+
+-- Log severities
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+-- find the serial first (0) scripting serial port instance
+local port = serial:find_serial(0)
+
+if not port then
+    gcs:send_text(MAV_SEVERITY.EMERGENCY, "No Scripting Serial Port")
+    return
+end
+
+-- begin the serial port
+port:begin(230400)
+port:set_flow_control(0)
+
+local buffer = ""
+
+local function parse_wind_data(buf)
+    -- Split the string up into key and values splitting on the default space delimiter.
+
+    local parsed_values = {}
+
+    -- Match any key-value pair where key is a string and value is a number
+    for key, value in buf:gmatch("(%a+)%s*([%-%.%d]+)") do
+        parsed_values[key] = tonumber(value) -- Store key-value pair in the table
+    end
+
+    return parsed_values
+end
+
+local function log_wind_data(parsed)
+    -- Given a table of parsed data, log it.
+
+    local tag_ids = {}
+    local values = {}
+    -- Build up the logger list of dynamic tag ID's.
+    for tag_id, v in pairs(parsed) do
+        table.insert(tag_ids, tag_id)
+        table.insert(values, v)
+    end
+    local tag_id_str = table.concat(tag_ids, ',')
+    local value_format = string.rep('f', #tag_ids)
+    
+    assert(#tag_ids < 15, "#tag_ids=" .. #tag_ids)
+    logger.write('W3D', tag_id_str, value_format,
+        table.unpack(values))
+end
+
+
+-- the main update function that is used to read in data from serial port
+local function update()
+
+    if not port then
+        gcs:send_text(0, "no Scripting Serial Port")
+        return update, 100
+    end
+
+    -- gcs:send_text(MAV_SEVERITY.INFO, "update()")
+
+    local n_bytes = port:available()
+    while n_bytes > 0 do
+        local byte = port:read()
+
+        if byte then
+            local c = string.char(byte)
+            buffer = buffer .. c
+
+            if c == "\r" then
+                local result = parse_wind_data(buffer)
+                log_wind_data(result)
+                buffer = ""
+            end
+        end
+        n_bytes = n_bytes - 1
+    end
+    return update, 100
+end
+
+gcs:send_text(MAV_SEVERITY.INFO, "wind-decode.lua running...")
+
+return update, 100
+
+