AP_Scripting: Add health checks

Added health checks for the Baro, InertialSensor, IOMCU, and Compass

libraries/AP_Baro/AP_Baro.cpp

@@ -981,6 +981,25 @@ void AP_Baro::update(void)
 #endif
 }
 
+#ifdef HAL_BUILD_AP_PERIPH
+// calibration and alt check not valid for AP_Periph
+bool AP_Baro::healthy(uint8_t instance) const {
+    // If the requested instance was outside max instances it is not healthy (it doesn't exist)
+    if (instance >= BARO_MAX_INSTANCES) {
+        return false;
+    }
+    return sensors[instance].healthy;
+}
+#else
+bool AP_Baro::healthy(uint8_t instance) const {
+    // If the requested instance was outside max instances it is not healthy (it doesn't exist)
+    if (instance >= BARO_MAX_INSTANCES) {
+        return false;
+    }
+    return sensors[instance].healthy && sensors[instance].alt_ok && sensors[instance].calibrated;
+}
+#endif
+
 /*
   update field elevation value
  */

libraries/AP_Scripting/docs/docs.lua

@@ -1087,6 +1087,24 @@ function winch:relax() end
 ---@return boolean
 function winch:healthy() end
 
+-- desc
+---@class iomcu
+iomcu = {}
+
+-- Check if the IO is healthy
+---@return boolean
+function iomcu:healthy() end
+
+-- desc
+---@class compass
+compass = {}
+
+-- Check if the compass is healthy
+---@param instance integer -- the 0-based index of the compass instance to return.
+---@return boolean
+function compass:healthy(instance) end
+
+
 -- desc
 ---@class camera
 camera = {}
@@ -1357,6 +1375,15 @@ ins = {}
 ---@return number
 function ins:get_temperature(instance) end
 
+-- Check if a specific gyrometer sensor is healthy
+---@param instance integer -- the 0-based index of the gyrometer instance to return.
+---@return boolean
+function ins:get_gyro_health(instance) end
+
+-- Check if a specific accelerometer sensor is healthy
+---@param instance integer -- the 0-based index of the accelerometer instance to return.
+---@return boolean
+function ins:get_accel_health(instance) end
 
 -- desc
 ---@class Motors_dynamic
@@ -1762,6 +1789,11 @@ function baro:get_pressure() end
 ---@return number
 function baro:get_altitude() end
 
+-- Check if a baro sensor is healthy
+---@param instance integer -- the 0-based index of the BARO instance to return.
+---@return boolean
+function baro:healthy(instance) end
+
 
 -- desc
 ---@class serial

libraries/AP_Scripting/generator/description/bindings.desc

@@ -335,6 +335,7 @@ singleton AP_Baro method get_pressure float
 singleton AP_Baro method get_temperature float
 singleton AP_Baro method get_external_temperature float
 singleton AP_Baro method get_altitude float
+singleton AP_Baro method healthy boolean uint8_t'skip_check
 
 include AP_OpticalFlow/AP_OpticalFlow.h
 singleton AP_OpticalFlow depends AP_OPTICALFLOW_ENABLED
@@ -514,6 +515,8 @@ userdata AP_MotorsMatrix_Scripting_Dynamic::factor_table field throttle'array AP
 include AP_InertialSensor/AP_InertialSensor.h
 singleton AP_InertialSensor rename ins
 singleton AP_InertialSensor method get_temperature float uint8_t 0 INS_MAX_INSTANCES
+singleton AP_InertialSensor method get_gyro_health boolean uint8_t'skip_check
+singleton AP_InertialSensor method get_accel_health boolean uint8_t'skip_check
 
 singleton CAN manual get_device lua_get_CAN_device 1
 singleton CAN manual get_device2 lua_get_CAN_device2 1
@@ -632,6 +635,15 @@ singleton AP_Winch method release_length void float'skip_check
 singleton AP_Winch method set_desired_rate void float'skip_check
 singleton AP_Winch method get_rate_max float
 
+include AP_IOMCU/AP_IOMCU.h
+singleton AP_IOMCU depends HAL_WITH_IO_MCU
+singleton AP_IOMCU rename iomcu
+singleton AP_IOMCU method healthy boolean
+
+include AP_Compass/AP_Compass.h
+singleton Compass rename compass
+singleton Compass method healthy boolean uint8_t'skip_check
+
 -- ----EFI Library----
 include AP_EFI/AP_EFI.h depends HAL_EFI_ENABLED
 include AP_EFI/AP_EFI_Scripting.h depends AP_EFI_SCRIPTING_ENABLED