AP_Scripting: fix remaining luacheck issues

libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua

@@ -8,7 +8,6 @@
 ---@diagnostic disable: param-type-mismatch
 ---@diagnostic disable: undefined-field
 ---@diagnostic disable: missing-parameter
----@diagnostic disable: cast-local-type
 ---@diagnostic disable: need-check-nil
 ---@diagnostic disable: undefined-global
 ---@diagnostic disable: inject-field
@@ -659,8 +658,8 @@ end
 --[[
    create a class that inherits from a base class
 --]]
-local function inheritsFrom(baseClass, _name)
+local function inheritsFrom(baseClass, name_in)
-    local new_class = { name = _name }
+    local new_class = { name = name_in }
     local class_mt = { __index = new_class }
 
     function new_class:create()
@@ -1658,10 +1657,8 @@ end
 --[[
    perform a rudder over maneuver
 --]]
-function rudder_over(_direction, _min_speed)
+function rudder_over(direction, min_speed)
    local self = {}
-   local direction = _direction
-   local min_speed = _min_speed
    local reached_speed = false
    local kick_started = false
    local pitch2_done = false
@@ -1822,12 +1819,10 @@ end
 --[[
    takeoff controller
 --]]
-function takeoff_controller(_distance, _thr_slew)
+function takeoff_controller(distance, thr_slew)
    local self = {}
    local start_time = 0
    local start_pos = nil
-   local thr_slew = _thr_slew
-   local distance = _distance
    local all_done = false
    local initial_yaw_deg = math.deg(ahrs:get_yaw())
    local yaw_correction_tconst = 1.0
@@ -2245,11 +2240,9 @@ end
    milliseconds means we lose accuracy over time. At 9 hours we have
    an accuracy of about 1 millisecond
 --]]
-local function JitterCorrection(_max_lag_ms, _convergence_loops)
+local function JitterCorrection(max_lag_ms, convergence_loops)
    local self = {}
 
-   local max_lag_ms = _max_lag_ms
-   local convergence_loops = _convergence_loops
    local link_offset_ms = 0
    local min_sample_ms = 0
    local initialised = false

libraries/AP_Scripting/applets/Heli_IM_COL_Tune.lua

@@ -4,8 +4,6 @@
 -- this pot to adjust the sensitivity of the collective about the collective midstick.  The 2nd Pot then controls
 -- the value of the 50% point on the curve.  This can be used to set the collective position to aid with hovering 
 -- at the midstick.
--- luacheck: only 0
----@diagnostic disable: cast-local-type
 
 -- Tested and working as of 25th Aug 2020 (Copter Dev)
 
@@ -83,8 +81,7 @@ end
 
 -- Get parameter value and perform checks to ensure successful
 function get_im_val(param_name,disp)
-    local value = -1
+    local value = param:get(param_name)
-    value = param:get(param_name)
 
     if value >= 0 then
         if disp then

libraries/AP_Scripting/applets/forward_flight_motor_shutdown.lua

@@ -4,8 +4,6 @@
 -- Throttle thresholds also allow automatic enable and disable of stop motors
 -- slew up and down times allow to configure how fast the motors are disabled and re-enabled
 
--- luacheck: only 0
----@diagnostic disable: cast-local-type
 
 
 -- Config
@@ -39,12 +37,6 @@ if throttle_off_threshold < 100 then
   assert((throttle_off_threshold < throttle_on_threshold) and (throttle_on_threshold < 100), "throttle on and off thresholds not configured correctly")
 end
 
--- clear vars we don't need anymore
-slew_down_time = nil
-slew_up_time = nil
-pwm_range = nil
-
-
 for i = 1, #stop_motors do
   -- Check for a valid motor number
   assert(stop_motors[i] >= 1 and stop_motors[i] <= 12, string.format("Lua: motor %i not valid",stop_motors[i]))
@@ -84,7 +76,7 @@ assert(#stop_motor_chan == #stop_motors, "Lua: could not find all motors to stop
 assert(#run_motor_fun > 0, "Lua: cannot stop all motors")
 
 -- keep track of last time in a VTOL mode, this allows to delay switching after a transition/assist
-local last_vtol_active = 0
+local last_vtol_active = uint32_t(0)
 
 -- current action
 local script_enabled = false

libraries/AP_Scripting/applets/net_webserver.lua

@@ -435,13 +435,11 @@ end
 --[[
    client class for open connections
 --]]
-local function Client(_sock, _idx)
+local function Client(sock, idx)
    local self = {}
 
    self.closed = false
 
-   local sock = _sock
-   local idx = _idx
    local have_header = false
    local header = ""
    local header_lines = {}

libraries/AP_Scripting/applets/plane_package_place.lua

@@ -1,16 +1,12 @@
 --[[
  support package place for quadplanes
 --]]
--- luacheck: only 0
----@diagnostic disable: param-type-mismatch
-
 
 local PARAM_TABLE_KEY = 9
 local PARAM_TABLE_PREFIX = "PKG_"
 
 local MODE_AUTO = 10
 
-local NAV_TAKEOFF = 22
 local NAV_VTOL_PAYLOAD_PLACE = 94
 
 -- add a parameter and bind it to a variable
@@ -31,7 +27,6 @@ local Q_LAND_FINAL_ALT = Parameter("Q_LAND_FINAL_ALT")
 
 local MAV_SEVERITY_INFO = 6
 local MAV_SEVERITY_NOTICE = 5
-local MAV_SEVERITY_EMERGENCY = 0
 
 local RNG_ORIENT_DOWN = 25
 

libraries/AP_Scripting/applets/x-quad-cg-allocation.lua

@@ -274,7 +274,7 @@ function protected_wrapper()
     gcs:send_text(MAV_SEVERITY.EMERGENCY, "Internal Error: " .. err)
     return protected_wrapper, 1000
   end
-  if not (current_state == FSM_STATE.FINISHED) then
+  if current_state ~= FSM_STATE.FINISHED then
     return protected_wrapper, 1000.0/LOOP_RATE_HZ
   end
 end

libraries/AP_Scripting/drivers/EFI_HFE.lua

@@ -1,9 +1,7 @@
 --[[ 
   EFI Scripting backend driver for HFE based on HFEDCN0191 Rev E
 --]]
--- luacheck: only 0
 ---@diagnostic disable: param-type-mismatch
----@diagnostic disable: redundant-parameter
 ---@diagnostic disable: undefined-field
 ---@diagnostic disable: missing-parameter
 ---@diagnostic disable: need-check-nil
@@ -98,7 +96,7 @@ local now_s = get_time_sec()
 --[[
    EFI Engine Object
 --]]
-local function engine_control(_driver)
+local function engine_control(driver)
     local self = {}
 
     -- Build up the EFI_State that is passed into the EFI Scripting backend
@@ -109,7 +107,6 @@ local function engine_control(_driver)
     local rpm = 0
     local air_pressure = 0
     local map_ratio = 0.0
-    local driver = _driver
     local last_rpm_t = get_time_sec()
     local last_state_update_t = get_time_sec()
     local throttle_pos = 0.0
@@ -123,12 +120,6 @@ local function engine_control(_driver)
     local injector_duty = 0.0
     local ignition_angle = 0.0
 
-    -- Generator Data Structure
-    local gen        = {}
-    gen.amps         = 0.0
-    gen.rpm          = 0.0
-    gen.batt_current = 0.0
-
     -- Temperature Data Structure
     local temps = {}
     temps.egt = 0.0        -- Engine Gas Temperature
@@ -275,9 +266,9 @@ local function engine_control(_driver)
     
     -- return the instance
     return self
-end -- end function engine_control(_driver)
+end -- end function engine_control(driver)
 
-local engine1 = engine_control(driver1, 1)
+local engine1 = engine_control(driver1)
 
 function update()
    now_s = get_time_sec()

libraries/AP_Scripting/drivers/EFI_Halo6000.lua

@@ -338,7 +338,7 @@ local function engine_control()
     
     -- return the instance
     return self
-end -- end function engine_control(_driver)
+end -- end function engine_control()
 
 local engine1 = engine_control()
 

libraries/AP_Scripting/drivers/EFI_SkyPower.lua

@@ -243,7 +243,7 @@ end
 --[[
    EFI Engine Object
 --]]
-local function engine_control(_driver)
+local function engine_control(driver)
     local self = {}
 
     -- Build up the EFI_State that is passed into the EFI Scripting backend
@@ -263,7 +263,6 @@ local function engine_control(_driver)
     local fuel_consumption_lph = 0
     local fuel_total_l = 0
     local last_fuel_s = 0
-    local driver = _driver
     local last_rpm_t = get_time_sec()
     local last_state_update_t = get_time_sec()
     local last_thr_update = get_time_sec()

libraries/AP_Scripting/examples/LED_matrix_image.lua

@@ -2,7 +2,6 @@
 Script to control LED strips based on the roll of the aircraft. This is an example to demonstrate
 the LED interface for WS2812 LEDs
 --]]
--- luacheck: only 0
 
 --[[
 for this demo we will use a single strip with 30 LEDs
@@ -77,7 +76,7 @@ id[7][6] = 28
 id[7][7] = 27
 
 -- ArduPilot logo 7 x 48, RGB
-image = {}
+local image = {}
 image[1] = {}
 image[2] = {}
 image[3] = {}
@@ -502,9 +501,6 @@ local function display_image(image_in,offset_in,brightness_in)
         brightness = brightness_in
     end
 
-    local i
-    local j
-
     for i = 1, 48 do
         local x_index = i + im_offset
         if x_index >= 1 and x_index <= matrix_x then

libraries/AP_Scripting/examples/LED_matrix_text.lua

@@ -2,7 +2,6 @@
 Script to control LED strips based on the roll of the aircraft. This is an example to demonstrate
 the LED interface for WS2812 LEDs
 --]]
--- luacheck: only 0
 
 --[[
 for this demo we will use a single strip with 30 LEDs
@@ -77,7 +76,7 @@ id[7][6] = 28
 id[7][7] = 27
 
 -- https://github.com/noopkat/oled-font-5x7/blob/master/oled-font-5x7.js
-font = {}
+local font = {}
 font[' '] = {0x00, 0x00, 0x00, 0x00, 0x00} -- // space
 font['!'] = {0x00, 0x00, 0x5F, 0x00, 0x00} -- // !
 font['"'] = {0x00, 0x07, 0x00, 0x07, 0x00} -- // "
@@ -205,9 +204,6 @@ if char_offset < 1 - 5 then
     return
 end
 
-local i
-local j
-
 for i = 1, 5 do
     local x_index = i + char_offset
     if x_index >= 1 and x_index <= matrix_x then
@@ -225,7 +221,6 @@ end
 
 local function display_string(string,r,g,b,offset_in)
 local str_offset = 0
-local i
 for i = 1, string:len() do
     display_char(string:sub(i,i),r,g,b,str_offset + offset_in)
     str_offset = str_offset + 6

libraries/AP_Scripting/examples/LED_roll.lua

@@ -2,7 +2,6 @@
 Script to control LED strips based on the roll of the aircraft. This is an example to demonstrate
 the LED interface for WS2812 LEDs
 --]]
--- luacheck: only 0
 
 
 --[[
@@ -57,7 +56,7 @@ local rainbow = {
 --[[
 Function to set a LED to a color on a classic rainbow spectrum, with v=0 giving red
 --]]
-function set_Rainbow(chan, led, v)
+local function set_Rainbow(channel, led, v)
   local num_rows = #rainbow
   local row = math.floor(constrain(v * (num_rows-1)+1, 1, num_rows-1))
   local v0 = (row-1) / (num_rows-1)
@@ -66,7 +65,7 @@ function set_Rainbow(chan, led, v)
   r = math.floor(rainbow[row][1] + p * (rainbow[row+1][1] - rainbow[row][1]))
   g = math.floor(rainbow[row][2] + p * (rainbow[row+1][2] - rainbow[row][2]))
   b = math.floor(rainbow[row][3] + p * (rainbow[row+1][3] - rainbow[row][3]))
-  serialLED:set_RGB(chan, led, r, g, b)
+  serialLED:set_RGB(channel, led, r, g, b)
 end
 
 --[[

libraries/AP_Scripting/examples/NMEA-decode.lua

@@ -1,5 +1,4 @@
 -- Script decodes, checks and prints NMEA messages
--- luacheck: only 0
 
 -- find the serial first (0) scripting serial port instance
 local port = serial:find_serial(0)
@@ -40,8 +39,8 @@ local function decode_NMEA(byte)
             -- test the checksum
             string_complete = true
             return checksum == tonumber(term[term_number],16)
-        else
+
-            -- we could further decode the message data here
+        -- else -- we could further decode the message data here
         end
 
         if char == '*' then

libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua

@@ -26,13 +26,10 @@
 -- SCR_USER4 holds the threshold for optical flow innovations (about 0.15 is a good choice)
 --
 -- When the 2nd auxiliary switch (300/Scripting1) is pulled high automatic source selection uses these thresholds:
--- luacheck: only 0
----@diagnostic disable: cast-local-type
 ---@diagnostic disable: need-check-nil
 
 local rangefinder_rotation = 25     -- check downward (25) facing lidar
 local source_prev = 0               -- previous source, defaults to primary source
-local sw_source_prev = -1           -- previous source switch position
 local sw_auto_pos_prev = -1         -- previous auto source switch position
 local auto_switch = false           -- true when auto switching between sources is active
 local gps_usable_accuracy = 1.0     -- GPS is usable if speed accuracy is at or below this value
@@ -115,12 +112,9 @@ function update()
 
   -- get opticalflow innovations from ahrs (only x and y values are valid)
   local opticalflow_over_threshold = true
-  local opticalflow_xy_innov = 0
+  local opticalflow_innov = ahrs:get_vel_innovations_and_variances_for_source(5)
-  local opticalflow_innov = Vector3f()
-  local opticalflow_var = Vector3f()
-  opticalflow_innov, opticalflow_var = ahrs:get_vel_innovations_and_variances_for_source(5)
   if (opticalflow_innov) then
-    opticalflow_xy_innov = math.sqrt(opticalflow_innov:x() * opticalflow_innov:x() + opticalflow_innov:y() * opticalflow_innov:y())
+    local opticalflow_xy_innov = math.sqrt(opticalflow_innov:x() * opticalflow_innov:x() + opticalflow_innov:y() * opticalflow_innov:y())
     opticalflow_over_threshold = (opticalflow_xy_innov == 0.0) or (opticalflow_xy_innov > opticalflow_innov_thresh)
   end
 

libraries/AP_Scripting/examples/ahrs-source-gps-wheelencoders.lua

@@ -9,15 +9,11 @@
 -- SCR_USER3 holds the threshold for GPS innovations (around 0.3 is a good choice)
 --     if GPS speed accuracy <= SCR_USER2 and GPS innovations <= SRC_USER3 then the GPS (primary source set) will be used
 --     otherwise wheel encoders (secondary source set) will be used
--- luacheck: only 0
----@diagnostic disable: cast-local-type
 ---@diagnostic disable: need-check-nil
 
 local source_prev = 0               -- previous source, defaults to primary source
-local sw_source_prev = -1           -- previous source switch position
 local sw_auto_pos_prev = -1         -- previous auto source switch position
 local auto_switch = false           -- true when auto switching between sources is active
-local gps_usable_accuracy = 1.0     -- GPS is usable if speed accuracy is at or below this value
 local vote_counter_max = 20         -- when a vote counter reaches this number (i.e. 2sec) source may be switched
 local gps_vs_nongps_vote = 0        -- vote counter for GPS vs NonGPS (-20 = GPS, +20 = NonGPS)
 
@@ -67,9 +63,7 @@ function update()
   local gps_over_threshold = (gps_speed_accuracy == nil) or (gps:speed_accuracy(gps:primary_sensor()) > gps_speedaccuracy_thresh)
 
   -- get GPS innovations from ahrs
-  local gps_innov = Vector3f()
+  local gps_innov = ahrs:get_vel_innovations_and_variances_for_source(3)
-  local gps_var = Vector3f()
-  gps_innov, gps_var = ahrs:get_vel_innovations_and_variances_for_source(3)
   local gps_innov_over_threshold = (gps_innov == nil) or (gps_innov:z() == 0.0) or (math.abs(gps_innov:z()) > gps_innov_thresh)
 
   -- automatic selection logic --

libraries/AP_Scripting/examples/ahrs-source.lua

@@ -14,14 +14,10 @@
 -- SCR_USER3 holds the threshold for Non-GPS vertical speed innovation (about 0.3 is a good choice)
 --     if both GPS speed accuracy <= SCR_USER2 and ExternalNav speed variance >= SCR_USER3, source1 will be used
 --     otherwise source2 (T265) or source3 (optical flow) will be used based on rangefinder distance
--- luacheck: only 0
-
 ---@diagnostic disable: need-check-nil
----@diagnostic disable: cast-local-type
 
 local rangefinder_rotation = 25     -- check downward (25) facing lidar
 local source_prev = 0               -- previous source, defaults to primary source
-local sw_source_prev = -1           -- previous source switch position
 local sw_auto_pos_prev = -1         -- previous auto source switch position
 local auto_switch = false           -- true when auto switching between sources is active
 local gps_usable_accuracy = 1.0     -- GPS is usable if speed accuracy is at or below this value
@@ -83,9 +79,7 @@ function update()
   local gps_usable = (gps_speed_accuracy ~= nil) and (gps_speed_accuracy <= gps_usable_accuracy)
 
   -- get external nav innovations from ahrs
-  local extnav_innov = Vector3f()
+  local extnav_innov = ahrs:get_vel_innovations_and_variances_for_source(6)
-  local extnav_var = Vector3f()
-  extnav_innov, extnav_var = ahrs:get_vel_innovations_and_variances_for_source(6)
   local extnav_over_threshold = (extnav_innov == nil) or (extnav_innov:z() == 0.0) or (math.abs(extnav_innov:z()) > extnav_innov_thresh)
 
   -- get rangefinder distance

libraries/AP_Scripting/examples/copter-posoffset.lua

@@ -140,7 +140,7 @@ function update()
     -- first get position offset (cumulative effect of velocity offsets)
     local pos_offset_NED, _, _ = poscontrol:get_posvelaccel_offset()
     if pos_offset_NED == nil then
-        print_warning("unable to get position offset")
+        print("unable to get position offset")
         pos_offset_NED = Vector3f()
     end
     -- test velocity offsets in m/s in NED frame

libraries/AP_Scripting/examples/copter_deploy.lua

@@ -5,8 +5,6 @@
 local PARAM_TABLE_KEY = 72
 local PARAM_TABLE_PREFIX = "DEPL_"
 local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
-
----@diagnostic disable: missing-parameter
 ---@diagnostic disable: param-type-mismatch
 
 -- bind a parameter to a variable
@@ -69,7 +67,7 @@ function update_state()
    gcs:send_text(MAV_SEVERITY.INFO, "DEPL: deploying")
    vehicle:set_mode(MODE_LAND)
    arming:arm_force()
-   if not vehicle:get_mode() == MODE_LAND or not arming:is_armed() then
+   if (vehicle:get_mode() ~= MODE_LAND) or not arming:is_armed() then
       gcs:send_text(MAV_SEVERITY.INFO, "DEPL: Arming failed")
       return
    end

libraries/AP_Scripting/examples/frsky_wp.lua

@@ -17,8 +17,6 @@
   For this test we'll use sensor ID 17 (0x71),
   Note: 17 is the index, 0x71 is the actual ID
 --]]
--- luacheck: only 0
----@diagnostic disable: param-type-mismatch
 
 local loop_time = 1000 -- number of ms between runs
 
@@ -45,7 +43,7 @@ function wrap_360(angle)
 end
 
 function prep_5bits(num)
-    local res = 0
+    local res
     local abs_num = math.floor(math.abs(num) + 0.5)
     if abs_num < 10 then
       res = abs_num << 1
@@ -61,7 +59,7 @@ function prep_5bits(num)
 end
 
 function wp_pack(index, distance, bearing, xtrack)
-    local wp_dword = uint32_t()
+    local wp_dword
     wp_dword = math.min(index,WP_LIMIT_COUNT)
     wp_dword = wp_dword | frsky_sport:prep_number(math.min(math.floor(distance+0.5),WP_LIMIT_DISTANCE),3,2) << WP_OFFSET_DISTANCE
     wp_dword = wp_dword | prep_5bits(math.min(xtrack,WP_LIMIT_XTRACK)) << WP_OFFSET_XTRACK
@@ -97,16 +95,13 @@ function update_wp_info()
 end
 
 function update()
-    local gps_status = gps.status(0,0)
 
     if not update_wp_info() then
       return update, loop_time
     end
 
     local sensor_id = 0x71
-    local wp_dword = uint32_t()
+    local wp_dword = wp_pack(wp_index, wp_distance, wp_bearing, wp_xtrack)
-
-    wp_dword = wp_pack(wp_index, wp_distance, wp_bearing, wp_xtrack)
     frsky_sport:sport_telemetry_push(sensor_id, 0x10, 0x5009, wp_dword)
 
     return update, loop_time

libraries/AP_Scripting/examples/gen_control.lua

@@ -5,8 +5,6 @@
    generators. It monitors battery voltage and controls the throttle
    of the generator to maintain a target voltage using a PI controller
 --]]
--- luacheck: only 0
-
 ---@diagnostic disable: need-check-nil
 ---@diagnostic disable: param-type-mismatch
 
@@ -63,7 +61,6 @@ GENCTL_VOLT_TARG = bind_add_param('VOLT_TARG', 11, 0)
 GENCTL_SLEW_RATE = bind_add_param('SLEW_RATE', 12, 100)
 
 local MAV_SEVERITY_INFO = 6
-local MAV_SEVERITY_NOTICE = 5
 local MAV_SEVERITY_EMERGENCY = 0
 
 local switch = nil

libraries/AP_Scripting/examples/mission-edit-demo.lua

@@ -1,7 +1,5 @@
 -- mission editing demo lua script.
 -- by Buzz 2020
--- luacheck: only 0
-
 ---@diagnostic disable: param-type-mismatch
 ---@diagnostic disable: undefined-field
 
@@ -202,7 +200,7 @@ function stage7 ()
       -- fiurst time in , there's no mission, lets throw a few wps in to play with later..
       -- change copy of last item slightly, for giggles, and append as a new item
       if (mission:num_commands() == 1)  then
-          for x = 1, 10 do 
+          for _ = 1, 10 do 
               m:command(16) -- 16 = normal WAYPOINT
               m:x(m:x()+math.random(-10000,10000)) -- add something random 
               m:y(m:y()+math.random(-10000,10000)) 

libraries/AP_Scripting/examples/mission-load.lua

@@ -1,6 +1,5 @@
 -- Example of loading a mission from the SD card using Scripting
 -- Would be trivial to select a mission based on scripting params or RC switch
--- luacheck: only 0
 --Copy this "mission-load.lua" script to the "scripts" directory of the simulation or autopilot's SD card. 
 --The "mission1.txt" file containing the mission items should be placed in the directory above the "scripts" directory. 
 --In case of placing it on SD Card, mission1.txt file should be placed in the APM directory root.
@@ -23,12 +22,11 @@ local function read_mission(file_name)
   local index = 0
   local fail = false
   while true and not fail do
-     local data = {}
      local line = file:read()
      if not line then
         break
      end
-     local ret, _, seq, curr, frame, cmd, p1, p2, p3, p4, x, y, z, autocont = string.find(line, "^(%d+)%s+(%d+)%s+(%d+)%s+(%d+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+(%d+)")
+     local ret, _, seq, _--[[ curr ]], frame, cmd, p1, p2, p3, p4, x, y, z, _--[[ autocont ]] = string.find(line, "^(%d+)%s+(%d+)%s+(%d+)%s+(%d+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+(%d+)")
      if not ret then
         fail = true
         break

libraries/AP_Scripting/examples/plane-wind-failsafe.lua

@@ -1,7 +1,6 @@
 -- warn the user if wind speed exceeds a threshold, failsafe if a second threshold is exceeded
 
 -- note that this script is only intended to be run on ArduPlane
--- luacheck: only 0
 
 -- tuning parameters
 local warn_speed = 10 -- metres/second
@@ -11,26 +10,26 @@ local warning_interval_ms = uint32_t(15000) -- send user message every 15s
 local warning_last_sent_ms = uint32_t() -- time we last sent a warning message to the user
 
 function update()
-	 local wind = ahrs:wind_estimate() -- get the wind estimate
+    local wind = ahrs:wind_estimate() -- get the wind estimate
-	 if wind then
+    if wind then
-	    -- make a 2D wind vector
+        -- make a 2D wind vector
-	    wind_xy = Vector2f()
+        wind_xy = Vector2f()
- 	    wind_xy:x(wind:x())
+        wind_xy:x(wind:x())
- 	    wind_xy:y(wind:y())
+        wind_xy:y(wind:y())
-	    speed = wind_xy:length() -- compute the wind speed
+        speed = wind_xy:length() -- compute the wind speed
-	    if speed > failsafe_speed then
+        if speed > failsafe_speed then
-	       gcs:send_text(0, "Wind failsafe at " .. speed .. " metres/second")
+            gcs:send_text(0, "Wind failsafe at " .. speed .. " metres/second")
-	       vehicle:set_mode(11) -- FIXME: should be an enum.  11 is RTL.
+            vehicle:set_mode(11) -- FIXME: should be an enum.  11 is RTL.
-	       return
+            return
-	    end
+        end
-	    if speed > warn_speed then
+        if speed > warn_speed then
-	       if millis() - warning_last_sent_ms > warning_interval_ms then
+            if millis() - warning_last_sent_ms > warning_interval_ms then
-	       	       gcs:send_text(4, "Wind warning at " .. speed .. " metres/second")
+                    gcs:send_text(4, "Wind warning at " .. speed .. " metres/second")
-		       warning_last_sent_ms = millis()
+                warning_last_sent_ms = millis()
-	       end
+            end
-	    end
+        end
-	 end
+    end
-	 return update, 1000
+    return update, 1000
 end
 
 return update, 1000

libraries/AP_Scripting/examples/plane_guided_follow.lua

@@ -1,12 +1,8 @@
 -- support follow in GUIDED mode in plane
--- luacheck: only 0
----@diagnostic disable: cast-local-type
-
 
 local PARAM_TABLE_KEY = 11
 local PARAM_TABLE_PREFIX = "GFOLL_"
 
-local MODE_MANUAL = 0
 local MODE_GUIDED = 15
 
 local ALT_FRAME_ABSOLUTE = 0
@@ -29,13 +25,10 @@ assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 3), 'could not add p
 GFOLL_ENABLE     = bind_add_param('ENABLE', 1, 0)
 
 -- current target
-local target_pos = Location()
+local target_pos
-local current_pos = Location()
+local current_pos
-local target_velocity = Vector3f()
-local target_heading = 0.0
 
 -- other state
-local vehicle_mode = MODE_MANUAL
 local have_target = false
 
 -- check key parameters
@@ -89,8 +82,7 @@ function update_target()
    end
    have_target = true
 
-   target_pos, target_velocity = follow:get_target_location_and_velocity_ofs()
+   target_pos = follow:get_target_location_and_velocity_ofs()
-   target_heading = follow:get_target_heading_deg()
 end
 
 -- main update function

libraries/AP_Scripting/examples/set-target-location.lua

@@ -21,7 +21,7 @@ function update()
     if pwm7 and pwm7 > 1800 then                        -- check if RC input 7 has moved high
       local mode = vehicle:get_mode()                   -- get current mode
       if not sent_target then                           -- if we haven't sent the target yet
-        if not (mode == copter_guided_mode_num) then    -- change to guided mode
+        if mode ~= copter_guided_mode_num then    -- change to guided mode
           vehicle:set_mode(copter_guided_mode_num)
         else
           local above_home = ahrs:get_home()            -- get home location
@@ -33,7 +33,7 @@ function update()
       else
 
         -- change to land mode when within 2m of home
-        if not (mode == copter_land_mode_num) then
+        if mode ~= copter_land_mode_num then
           local home = ahrs:get_home()
           local curr_loc = ahrs:get_location()
           if home and curr_loc then

libraries/AP_Scripting/examples/test_update_target_location.lua

@@ -6,7 +6,7 @@ local new_target= nil
 
 function update()
 
-    if not (vehicle:get_mode() == 4) then
+    if vehicle:get_mode() ~= 4 then
         gcs:send_text(0, "not in Guided")
         return update, 1000
     end