From ba57e0a9d8174ed0b27aca1770f574bc8fdf1a2c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 9 Mar 2022 13:16:50 +1100
Subject: [PATCH] AP_Scripting: review fixes

---
 libraries/AP_Scripting/docs/docs.lua          |  6 +--
 .../examples/plane_ship_landing.lua           | 44 +++++++++++--------
 .../generator/description/bindings.desc       |  2 +-
 3 files changed, 30 insertions(+), 22 deletions(-)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index ef8f2a9338..77b5e2c78c 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1321,10 +1321,10 @@ function vehicle:set_target_posvel_NED(target_pos, target_vel) end
 function vehicle:set_target_pos_NED(target_pos, use_yaw, yaw_deg, use_yaw_rate, yaw_rate_degs, yaw_relative, terrain_alt) end
 
 -- desc
----@param param1 Location_ud -- current target
----@param param2 Location_ud -- new target
+---@param current_target Location_ud -- current target, from get_target_location()
+---@param new_target Location_ud -- new target
 ---@return boolean
-function vehicle:update_target_location(param1, param2) end
+function vehicle:update_target_location(current_target, new_target) end
 
 -- desc
 ---@return Location_ud|nil
diff --git a/libraries/AP_Scripting/examples/plane_ship_landing.lua b/libraries/AP_Scripting/examples/plane_ship_landing.lua
index 8820977277..fe4d3f7ade 100644
--- a/libraries/AP_Scripting/examples/plane_ship_landing.lua
+++ b/libraries/AP_Scripting/examples/plane_ship_landing.lua
@@ -78,27 +78,20 @@ function sq(v)
    return v*v
 end
 
--- return time since boot in seconds
-function time_seconds()
-   return millis():tofloat() * 0.001
-end
-
---[[
-   parameter values which are auto-set on startup
---]]
-local key_params = {
-   FOLL_ENABLE = 1,
-   FOLL_OFS_TYPE = 1,
-   FOLL_ALT_TYPE = 0,
-}
-
 -- check key parameters
 function check_parameters()
+  --[[
+     parameter values which are auto-set on startup
+  --]]
+   local key_params = {
+      FOLL_ENABLE = 1,
+      FOLL_OFS_TYPE = 1,
+      FOLL_ALT_TYPE = 0,
+   }
+
    for p, v in pairs(key_params) do
       local current = param:get(p)
-      if not current then
-         gcs:send_text(0,string.format("Parameter %s not found", p))
-      end
+      assert(current, string.format("Parameter %s not found", p))
       if math.abs(v-current) > 0.001 then
          param:set_and_save(p, v)
          gcs:send_text(0,string.format("Parameter %s set to %.2f was %.2f", p, v, current))
@@ -435,5 +428,20 @@ end
 
 check_parameters()
 
+-- wrapper around update(). This calls update() at 20Hz,
+-- and if update faults then an error is displayed, but the script is not
+-- stopped
+function protected_wrapper()
+  local success, err = pcall(update)
+  if not success then
+     gcs:send_text(0, "Internal Error: " .. err)
+     -- when we fault we run the update function again after 1s, slowing it
+     -- down a bit so we don't flood the console with errors
+     return protected_wrapper, 1000
+  end
+  return protected_wrapper, 50
+end
+
 -- start running update loop
-return loop()
+return protected_wrapper()
+
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index dfa2c4d283..240b3e6cd0 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -493,7 +493,7 @@ singleton AP::fwversion() field patch uint8_t read
 singleton AP::fwversion() field fw_hash_str string read
 singleton AP::fwversion() field fw_hash_str alias hash
 
-include AP_Follow/AP_Follow.h
+include AP_Follow/AP_Follow.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
 singleton AP_Follow depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
 singleton AP_Follow alias follow
 singleton AP_Follow method have_target boolean