AP_Scripting: Allow scripts to set the mode

libraries/AP_Scripting/generator/description/bindings.desc

@@ -135,3 +135,7 @@ include GCS_MAVLink/GCS.h
 singleton GCS alias gcs
 singleton GCS method send_text void MAV_SEVERITY'enum MAV_SEVERITY_EMERGENCY MAV_SEVERITY_DEBUG "%s"'literal string
 singleton GCS method set_message_interval MAV_RESULT'enum uint8_t 0 MAVLINK_COMM_NUM_BUFFERS uint32_t 0U UINT32_MAX int32_t -1 INT32_MAX
+
+include AP_Vehicle/AP_Vehicle.h
+singleton AP_Vehicle alias vehicle
+singleton AP_Vehicle method set_mode boolean uint8_t 0 UINT8_MAX ModeReason::SCRIPTING'literal

libraries/AP_Scripting/lua_generated_bindings.cpp

@@ -1,6 +1,7 @@
 // auto generated bindings, don't manually edit
 #include "lua_generated_bindings.h"
 #include "lua_boxed_numerics.h"
+#include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Relay/AP_Relay.h>
 #include <AP_Terrain/AP_Terrain.h>
@@ -472,6 +473,24 @@ const luaL_Reg Location_meta[] = {
     {NULL, NULL}
 };
 
+static int AP_Vehicle_set_mode(lua_State *L) {
+    AP_Vehicle * ud = AP_Vehicle::get_singleton();
+    if (ud == nullptr) {
+        return luaL_argerror(L, 1, "vehicle not supported on this firmware");
+    }
+
+    binding_argcheck(L, 2);
+    const lua_Integer raw_data_2 = luaL_checkinteger(L, 2);
+    luaL_argcheck(L, ((raw_data_2 >= MAX(0, 0)) && (raw_data_2 <= MIN(UINT8_MAX, UINT8_MAX))), 2, "argument out of range");
+    const uint8_t data_2 = static_cast<uint8_t>(raw_data_2);
+    const bool data = ud->set_mode(
+            data_2,
+            ModeReason::SCRIPTING);
+
+    lua_pushboolean(L, data);
+    return 1;
+}
+
 static int GCS_set_message_interval(lua_State *L) {
     GCS * ud = GCS::get_singleton();
     if (ud == nullptr) {
@@ -1542,6 +1561,11 @@ static int AP_AHRS_get_roll(lua_State *L) {
     return 1;
 }
 
+const luaL_Reg AP_Vehicle_meta[] = {
+    {"set_mode", AP_Vehicle_set_mode},
+    {NULL, NULL}
+};
+
 const luaL_Reg GCS_meta[] = {
     {"set_message_interval", GCS_set_message_interval},
     {"send_text", GCS_send_text},
@@ -1673,6 +1697,7 @@ const struct userdata_meta userdata_fun[] = {
 };
 
 const struct userdata_meta singleton_fun[] = {
+    {"vehicle", AP_Vehicle_meta, NULL},
     {"gcs", GCS_meta, NULL},
     {"relay", AP_Relay_meta, NULL},
     {"terrain", AP_Terrain_meta, AP_Terrain_enums},
@@ -1723,6 +1748,7 @@ void load_generated_bindings(lua_State *L) {
 }
 
 const char *singletons[] = {
+    "vehicle",
     "gcs",
     "relay",
     "terrain",

libraries/AP_Scripting/lua_generated_bindings.h

@@ -1,5 +1,6 @@
 #pragma once
 // auto generated bindings, don't manually edit
+#include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Relay/AP_Relay.h>
 #include <AP_Terrain/AP_Terrain.h>