AP_Scripting: Add wind decoder for Trisonica LI-550

libraries/AP_Scripting/examples/trisonica-mini.lua

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+-- 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, excluding 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 trisonica scripting port")
+    return
+end
+
+-- begin the serial port
+port:begin(230400)
+port:set_flow_control(0)
+
+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 tag_ids = nil
+local tag_id_str = ""
+local value_format = ""
+local last_keys = nil
+
+local function log_wind_data(parsed)
+    -- Given a table of parsed data, log it.
+
+    -- Collect keys from parsed and store as a list
+    local current_keys = {}
+    for k in pairs(parsed) do
+        table.insert(current_keys, k)
+    end
+    table.sort(current_keys)
+
+    -- First packet, we must set last_keys.
+    if not last_keys then
+        last_keys = current_keys
+        return
+    end
+
+    -- Bail early if the first packet parsed only contained some of the keys. 
+    -- After the 2nd packet, it will stabilize.
+    if #current_keys ~= #last_keys then
+        last_keys = current_keys
+        return
+    end
+
+    for i = 1, #current_keys do
+        if current_keys[i] ~= last_keys[i] then
+            last_keys = current_keys
+            return
+        end
+    end
+
+    -- Keys are now stable, so store them as tag_ids
+    if not tag_ids then
+        tag_ids = current_keys
+        tag_id_str = table.concat(tag_ids, ',')
+        value_format = string.rep('f', #tag_ids)
+        gcs:send_text(MAV_SEVERITY.INFO, "Using tag_ids: " .. tag_id_str)
+    end
+
+
+    -- Build ordered values from tag_ids
+    local values = {}
+    for _, tag_id in ipairs(tag_ids) do
+        table.insert(values, parsed[tag_id] or 0)
+    end
+
+    assert(#tag_ids < 15, "#tag_ids=" .. #tag_ids)
+    logger:write('W3D', tag_id_str, value_format, table.unpack(values))
+end
+
+local buffer = ""
+-- the main update function that is used to read in data from serial port
+local function update()
+
+
+    local n_bytes = port:available()
+    while n_bytes > 0 do
+        local byte = port:read()
+
+        if byte > -1 then
+            local c = string.char(byte)
+            buffer = buffer .. c
+
+            --ignore the \n because \r is sufficient to end parsing.
+            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, "trisonica-mini.lua running...")
+
+return update, 100

libraries/AP_Scripting/examples/trisonicia-mini.md

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