Sub: move scripting up to AP_Vehicle

ArduSub/Parameters.cpp

@@ -713,11 +713,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
     AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 18, ParametersG2, AP_Scripting),
-#endif
+    // 18 was scripting
 
     // 19 was airspeed
 
@@ -803,6 +799,20 @@ void Sub::load_parameters()
         const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
         AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
     }
+#endif
+    // PARAMETER_CONVERSION - Added: Jan-2024
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo scripting_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
+            return;
+        }
+
+        const uint16_t scripting_old_index = 18;       // Old parameter index in g2
+        const uint16_t scripting_old_top_element = 82; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
+    }
 #endif
 }
 

ArduSub/Parameters.h

@@ -7,10 +7,6 @@
 #include <AP_Gripper/AP_Gripper.h>
 #include <AP_Arming/AP_Arming.h>
 
-#if AP_SCRIPTING_ENABLED
-#include <AP_Scripting/AP_Scripting.h>
-#endif
-
 // Global parameter class.
 //
 class Parameters {
@@ -372,9 +368,6 @@ public:
     // control over servo output ranges
     SRV_Channels servo_channels;
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
 };
 
 extern const AP_Param::Info        var_info[];

ArduSub/system.cpp

@@ -157,10 +157,6 @@ void Sub::init_ardupilot()
 
     startup_INS_ground();
 
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
     // enable CPU failsafe
     mainloop_failsafe_enable();