AP_Scripting: applets: fix luacheck issues in sport aerobattics and script controller

libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua

@@ -5,11 +5,9 @@ cmd = 3: rolling circle, arg1 = yaw rate, arg2 = roll rate
 cmd = 4: knife edge at any angle, arg1 = roll angle to hold, arg2 = duration
 cmd = 5: pause, holding heading and alt to allow stabilization after a move, arg1 = duration in seconds
 ]]--
--- luacheck: only 0
 ---@diagnostic disable: param-type-mismatch
 ---@diagnostic disable: need-check-nil
 ---@diagnostic disable: cast-local-type
----@diagnostic disable: undefined-global
 
 DO_JUMP = 177
 k_throttle = 70
@@ -29,13 +27,12 @@ local HGT_P = bind_add_param('HGT_P',1,1) -- height P gain
 local HGT_I = bind_add_param("HGT_I",2,1) -- height I gain
 local HGT_KE_BIAS = bind_add_param("KE_ADD",3,20) -- height knifeedge addition for pitch
 local THR_PIT_FF = bind_add_param("PIT_FF",4,80) -- throttle FF from pitch
-local SPD_P = bind_add_param("SPD_P",5,5) -- speed P gain
+-- 5 was "SPD_P" speed P gain
-local SPD_I = bind_add_param("SPD_I",6,25) -- speed I gain
+-- 6 was "SPD_I" speed I gain
 local TRIM_THROTTLE = Parameter("TRIM_THROTTLE")
 local RLL2SRV_TCONST = Parameter("RLL2SRV_TCONST")
 local PITCH_TCONST = Parameter("PTCH2SRV_TCONST")
 
-local last_roll_err = 0.0
 local last_id = 0
 local initial_yaw_deg = 0
 local wp_yaw_deg = 0
@@ -65,10 +62,10 @@ function bind_add_param2(name, idx, default_value)
     assert(param:add_param(PARAM_TABLE_KEY2, idx, name, default_value), string.format('could not add param %s', name))
     return Parameter(PARAM_TABLE_PREFIX2 .. name)
 end
-local TRICKS = nil
+local TRICKS
-local TRIK_SEL_FN = nil
+local TRIK_SEL_FN
-local TRIK_ACT_FN = nil
+local TRIK_ACT_FN
-local TRIK_COUNT  = nil
+local TRIK_COUNT
 
 -- constrain a value between limits
 function constrain(v, vmin, vmax)
@@ -131,7 +128,7 @@ end
 --roll controller to keep wings level in earth frame. if arg is 0 then level is at only 0 deg, otherwise its at 180/-180 roll also for loops
 function earth_frame_wings_level(arg)
    local roll_deg = math.deg(ahrs:get_roll())
-   local roll_angle_error = 0.0
+   local roll_angle_error
    if (roll_deg > 90 or roll_deg < -90) and arg ~= 0 then
     roll_angle_error = 180 - roll_deg
    else
@@ -166,7 +163,6 @@ local function PI_controller(kP,kI,iMax)
    -- private fields as locals
    local _kP = kP or 0.0
    local _kI = kI or 0.0
-   local _kD = kD or 0.0
    local _iMax = iMax
    local _last_t = nil
    local _I = 0
@@ -254,7 +250,6 @@ local function height_controller(kP_param,kI_param,KnifeEdge_param,Imax)
 end
 
 local height_PI = height_controller(HGT_P, HGT_I, HGT_KE_BIAS, 20.0)
-local speed_PI = PI_controller(SPD_P:get(), SPD_I:get(), 100.0)
 
 -- a controller to target a zero pitch angle and zero heading change, used in a roll
 -- output is a body frame pitch rate, with convergence over time tconst in seconds
@@ -305,7 +300,6 @@ function do_axial_roll(arg1, arg2)
       gcs:send_text(5, string.format("Starting %d Roll(s)", arg2))
    end
    local roll_rate = arg1
-   local pitch_deg = math.deg(ahrs:get_pitch())
    local roll_deg = math.deg(ahrs:get_roll())
 
    if trick_stage == 0 then
@@ -364,7 +358,7 @@ function do_loop(arg1, arg2)
    local roll_deg = math.deg(ahrs:get_roll())
    local vel = ahrs:get_velocity_NED():length()
    local pitch_rate = arg1
-   local pitch_rate = pitch_rate * (1+ 2*((vel/target_vel)-1)) --increase/decrease rate based on velocity to round loop
+   pitch_rate = pitch_rate * (1+ 2*((vel/target_vel)-1)) --increase/decrease rate based on velocity to round loop
    pitch_rate = constrain(pitch_rate,.5 * arg1, 3 * arg1)
    
    if trick_stage == 0 then
@@ -400,7 +394,6 @@ function do_loop(arg1, arg2)
        return
     end
   end
-  throttle = throttle_controller()
   if trick_stage == 2 or trick_stage == 0 then 
      level_type = 0
   else
@@ -430,9 +423,6 @@ function do_rolling_circle(arg1, arg2)
    end
    local yaw_rate_dps = arg1
    local roll_rate_dps = arg2
-   local pitch_deg = math.deg(ahrs:get_pitch())
-   local roll_deg = math.deg(ahrs:get_roll())
-   local yaw_deg = math.deg(ahrs:get_yaw())
    local now_ms = millis()
    local dt = (now_ms - circle_last_ms):tofloat() * 0.001
    circle_last_ms = now_ms
@@ -467,7 +457,7 @@ function do_rolling_circle(arg1, arg2)
    end
 end
 
-local knife_edge_ms = 0
+local knife_edge_s = 0
 function do_knife_edge(arg1,arg2)
   -- arg1 is angle +/-180, duration is arg2
     local now = millis():tofloat() * 0.001
@@ -477,7 +467,6 @@ function do_knife_edge(arg1,arg2)
         knife_edge_s = now
         gcs:send_text(5, string.format("Starting %d Knife Edge", arg1))
     end
-    local i=0
     if (now - knife_edge_s) < arg2 then
         local roll_deg = math.deg(ahrs:get_roll())
         local roll_angle_error = (arg1 - roll_deg)
@@ -506,7 +495,7 @@ function do_knife_edge(arg1,arg2)
 end
 
 -- fly level for a time..allows full altitude recovery after trick
-function do_pause(arg1,arg2)
+function do_pause(arg1,_)
     -- arg1 is time of pause in sec, arg2 is unused
     local now = millis():tofloat() * 0.001
     if not running then
@@ -515,7 +504,6 @@ function do_pause(arg1,arg2)
         knife_edge_s = now
         gcs:send_text(5, string.format("%d sec Pause", arg1))
     end
-    local i=0
     if (now - knife_edge_s) < arg1 then
         roll_rate = earth_frame_wings_level(0)
         target_pitch = height_PI.update(initial_height)
@@ -534,11 +522,7 @@ function do_pause(arg1,arg2)
     end
 end
 
-
+function do_knifedge_circle(arg1, _)
-local circle_yaw = 0
-local circle_last_ms = 0
-
-function do_knifedge_circle(arg1, arg2)
    -- constant roll angle circle , arg1 yaw rate, positive to right, neg to left, arg2 is not used
    if not running then
       running = true
@@ -549,8 +533,6 @@ function do_knifedge_circle(arg1, arg2)
       gcs:send_text(5, string.format("Staring KnifeEdge Circle"))
    end
    local yaw_rate_dps = arg1
-   local pitch_deg = math.deg(ahrs:get_pitch())
-   local yaw_deg = math.deg(ahrs:get_yaw())
    local now_ms = millis()
    local dt = (now_ms - circle_last_ms):tofloat() * 0.001
    circle_last_ms = now_ms
@@ -621,7 +603,6 @@ function do_4point_roll(arg1, arg2)
       height_PI.reset()
       gcs:send_text(5, string.format("Starting 4pt Roll"))
    end
-   local pitch_deg = math.deg(ahrs:get_pitch())
    local roll_deg = math.deg(ahrs:get_roll())
 
    if trick_stage == 0 then
@@ -844,7 +825,7 @@ function check_trick()
          gcs:send_text(0, string.format("No trick selected"))
          return 0
       end
-      local id = TRICKS[selection].id:get()    
+      id = TRICKS[selection].id:get()
       if action == 1 then
          gcs:send_text(5, string.format("Trick %u selected (%s)", id, name[id]))
          return 0

libraries/AP_Scripting/applets/Script_Controller.lua

@@ -2,7 +2,6 @@
    a script to select other lua scripts using an auxillary switch from
     /1 /2 or /3 subdirectories of the scripts directory
 --]]
--- luacheck: only 0
 ---@diagnostic disable: param-type-mismatch
 
 
@@ -125,7 +124,7 @@ function remove_scripts(subdir)
       return false
    end
    local ret = false
-   for k,v in ipairs(dlist) do
+   for _,v in ipairs(dlist) do
       local suffix = v:sub(-4)
       if compare_strings_ci(suffix,".LUA") and not compare_strings_ci(v,THIS_SCRIPT) then
          if not file_exists(subdir .. "/" .. v) then
@@ -148,7 +147,7 @@ function copy_scripts(subdir)
    end
    local ret = false
    local sdir = get_scripts_dir()
-   for k, v in ipairs(dlist) do
+   for _, v in ipairs(dlist) do
       local suffix = v:sub(-4)
       if compare_strings_ci(suffix,".LUA") and not compare_strings_ci(v,THIS_SCRIPT) then
          local src = subdir .. "/" .. v
@@ -184,12 +183,11 @@ function mission_load(n)
   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