AntennaTracker: Allow scripting to run

AntennaTracker/Parameters.cpp

@@ -370,6 +370,11 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
 	GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
 
+#ifdef ENABLE_SCRIPTING
+    // Scripting is intentionally not showing up in the parameter docs until it is a more standard feature
+    GOBJECT(scripting, "SCR_", AP_Scripting),
+#endif
+
     // @Param: CMD_TOTAL
     // @DisplayName: Number of loaded mission items
     // @Description: Set to 1 if HOME location has been loaded by the ground station. Do not change this manually.

AntennaTracker/Parameters.h

@@ -108,6 +108,8 @@ public:
         k_param_rc_channels,
         k_param_servo_channels,
 
+        k_param_scripting = 219,
+
         //
         // 220: Waypoint data
         //

AntennaTracker/Tracker.h

@@ -69,6 +69,10 @@
 #include "GCS_Mavlink.h"
 #include "GCS_Tracker.h"
 
+#ifdef ENABLE_SCRIPTING
+#include <AP_Scripting/AP_Scripting.h>
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 #endif
@@ -155,6 +159,10 @@ private:
 
     enum ControlMode control_mode  = INITIALISING;
 
+#ifdef ENABLE_SCRIPTING
+    AP_Scripting scripting;
+#endif
+
     // Vehicle state
     struct {
         bool location_valid;    // true if we have a valid location for the vehicle

AntennaTracker/system.cpp

@@ -53,6 +53,12 @@ void Tracker::init_tracker()
     log_init();
 #endif
 
+#ifdef ENABLE_SCRIPTING
+    if (!scripting.init()) {
+        gcs().send_text(MAV_SEVERITY_ERROR, "Scripting failed to start");
+    }
+#endif // ENABLE_SCRIPTING
+
     // initialise compass
     init_compass();