APMRover2: Allow scripting to run

APMrover2/Parameters.cpp

@@ -703,6 +703,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("BAL_PITCH_TRIM", 40, ParametersG2, bal_pitch_trim, 0),
 
+#ifdef ENABLE_SCRIPTING
+    // Scripting is intentionally not showing up in the parameter docs until it is a more standard feature
+    AP_SUBGROUPINFO(scripting, "SCR_", 41, ParametersG2, AP_Scripting),
+#endif
+
     AP_GROUPEND
 };
 

APMrover2/Parameters.h

@@ -399,6 +399,11 @@ public:
 
     // balance both pitch trim
     AP_Float bal_pitch_trim;
+
+#ifdef ENABLE_SCRIPTING
+    AP_Scripting scripting;
+#endif // ENABLE_SCRIPTING
+
 };
 
 extern const AP_Param::Info var_info[];

APMrover2/Rover.h

@@ -81,6 +81,11 @@
 #include <AP_Follow/AP_Follow.h>
 #include <AP_OSD/AP_OSD.h>
 #include <AP_WindVane/AP_WindVane.h>
+
+#ifdef ENABLE_SCRIPTING
+#include <AP_Scripting/AP_Scripting.h>
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 #endif

APMrover2/system.cpp

@@ -196,6 +196,12 @@ void Rover::startup_ground(void)
         );
 #endif
 
+#ifdef ENABLE_SCRIPTING
+    if (!g2.scripting.init()) {
+        gcs().send_text(MAV_SEVERITY_ERROR, "Scripting failed to start");
+    }
+#endif // ENABLE_SCRIPTING
+
     // we don't want writes to the serial port to cause us to pause
     // so set serial ports non-blocking once we are ready to drive
     serial_manager.set_blocking_writes_all(false);