From 680278023f657f4dcb869c8d16887bd4b9f5ea78 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 14 Oct 2022 11:37:52 +1100
Subject: [PATCH] Rover: two more arguments to NAV_SCRIPT_TIME

---
 Rover/Rover.cpp     | 4 ++--
 Rover/Rover.h       | 2 +-
 Rover/mode.h        | 4 +++-
 Rover/mode_auto.cpp | 6 +++++-
 4 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index d37cf57133..f23684ea6f 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -262,13 +262,13 @@ bool Rover::nav_scripting_enable(uint8_t mode)
 }
 
 // lua scripts use this to retrieve the contents of the active command
-bool Rover::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2)
+bool Rover::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4)
 {
     if (control_mode != &mode_auto) {
         return false;
     }
 
-    return mode_auto.nav_script_time(id, cmd, arg1, arg2);
+    return mode_auto.nav_script_time(id, cmd, arg1, arg2, arg3, arg4);
 }
 
 // lua scripts use this to indicate when they have complete the command
diff --git a/Rover/Rover.h b/Rover/Rover.h
index 0c42456706..4b3fd5d00b 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -260,7 +260,7 @@ private:
     bool set_desired_speed(float speed) override;
     bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) override;
     bool nav_scripting_enable(uint8_t mode) override;
-    bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2) override;
+    bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override;
     void nav_script_time_done(uint16_t id) override;
 #endif // AP_SCRIPTING_ENABLED
     void stats_update();
diff --git a/Rover/mode.h b/Rover/mode.h
index 44330deb28..761602b6ff 100644
--- a/Rover/mode.h
+++ b/Rover/mode.h
@@ -267,7 +267,7 @@ public:
     void start_RTL();
 
     // lua accessors for nav script time support
-    bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2);
+    bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4);
     void nav_script_time_done(uint16_t id);
 
     AP_Mission mission{
@@ -376,6 +376,8 @@ private:
         uint8_t timeout_s;  // timeout (in seconds) provided by mission command
         float arg1;         // 1st argument provided by mission command
         float arg2;         // 2nd argument provided by mission command
+        int16_t arg3;       // 3rd argument provided by mission command
+        int16_t arg4;       // 4th argument provided by mission command
     } nav_scripting;
 #endif
 
diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index 41c6920e7c..fbcb06b546 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -273,7 +273,7 @@ void ModeAuto::start_RTL()
 }
 
 // lua scripts use this to retrieve the contents of the active command
-bool ModeAuto::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2)
+bool ModeAuto::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4)
 {
 #if AP_SCRIPTING_ENABLED
     if (_submode == AutoSubMode::Auto_NavScriptTime) {
@@ -281,6 +281,8 @@ bool ModeAuto::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &a
         cmd = nav_scripting.command;
         arg1 = nav_scripting.arg1;
         arg2 = nav_scripting.arg2;
+        arg3 = nav_scripting.arg3;
+        arg4 = nav_scripting.arg4;
         return true;
     }
 #endif
@@ -891,6 +893,8 @@ void ModeAuto::do_nav_script_time(const AP_Mission::Mission_Command& cmd)
         nav_scripting.timeout_s = cmd.content.nav_script_time.timeout_s;
         nav_scripting.arg1 = cmd.content.nav_script_time.arg1.get();
         nav_scripting.arg2 = cmd.content.nav_script_time.arg2.get();
+        nav_scripting.arg3 = cmd.content.nav_script_time.arg3;
+        nav_scripting.arg4 = cmd.content.nav_script_time.arg4;
     } else {
         // for safety we set nav_scripting to done to protect against the mission getting stuck
         nav_scripting.done = true;