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Plane: Create a scripting object

This commit is contained in:
Michael du Breuil 2018-09-27 16:03:56 -07:00 committed by Andrew Tridgell
parent a7d94ff6c7
commit 3aed07a83a
4 changed files with 19 additions and 0 deletions
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5
ArduPlane/Parameters.cpp
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@ -1177,6 +1177,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0), AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 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_", 14, ParametersG2, AP_Scripting),
#endif
AP_GROUPEND AP_GROUPEND
}; };

4
ArduPlane/Parameters.h
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@ -545,6 +545,10 @@ public:
#endif #endif
AP_Int32 flight_options; AP_Int32 flight_options;
#ifdef ENABLE_SCRIPTING
AP_Scripting scripting;
#endif // ENABLE_SCRIPTING
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];

4
ArduPlane/Plane.h
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@ -108,6 +108,10 @@
// Local modules // Local modules
#include "defines.h" #include "defines.h"
#ifdef ENABLE_SCRIPTING
#include <AP_Scripting/AP_Scripting.h>
#endif
#include "RC_Channel.h" // RC Channel Library #include "RC_Channel.h" // RC Channel Library
#include "Parameters.h" #include "Parameters.h"
#include "avoidance_adsb.h" #include "avoidance_adsb.h"

6
ArduPlane/system.cpp
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@ -251,6 +251,12 @@ void Plane::startup_ground(void)
); );
#endif #endif
#ifdef ENABLE_SCRIPTING
if (!g2.scripting.init()) {
gcs().send_text(MAV_SEVERITY_ERROR, "Scripting failed to start");
}
#endif // ENABLE_SCRIPTING
// reset last heartbeat time, so we don't trigger failsafe on slow // reset last heartbeat time, so we don't trigger failsafe on slow
// startup // startup
failsafe.last_heartbeat_ms = millis(); failsafe.last_heartbeat_ms = millis();