From bc3fc9a317cbcc3a00393ed77a5cce9838cc2bda Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Jul 2022 16:46:57 +1000
Subject: [PATCH] AP_Scripting: added bindings for motors roll, pitch, yaw
 outputs

---
 libraries/AP_Scripting/docs/docs.lua          | 24 +++++++++++++++++++
 .../generator/description/bindings.desc       |  6 +++++
 2 files changed, 30 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 139e7fa866..b87e713ac8 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1064,6 +1064,30 @@ function motors:set_frame_string(param1) end
 ---@return integer
 function motors:get_desired_spool_state() end
 
+-- get yaw FF output
+---@return number
+function motors:get_yaw_ff() end
+
+-- get yaw P+I+D
+---@return number
+function motors:get_yaw() end
+
+-- get pitch FF out
+---@return number
+function motors:get_pitch_ff() end
+
+-- get pitch P+I+D out
+---@return number
+function motors:get_pitch() end
+
+-- get roll FF out
+---@return number
+function motors:get_roll_ff() end
+
+-- get roll P+I+D
+---@return number
+function motors:get_roll() end
+
 -- desc
 ---@class FWVersion
 FWVersion = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 2fa5502bce..be11c793c9 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -549,6 +549,12 @@ singleton AP::motors() rename motors
 singleton AP::motors() method set_frame_string void string
 singleton AP::motors() method get_interlock boolean
 singleton AP::motors() method get_desired_spool_state uint8_t
+singleton AP::motors() method get_roll float
+singleton AP::motors() method get_roll_ff float
+singleton AP::motors() method get_pitch float
+singleton AP::motors() method get_pitch_ff float
+singleton AP::motors() method get_yaw float
+singleton AP::motors() method get_yaw_ff float
 
 include AP_Common/AP_FWVersion.h
 singleton AP::fwversion() literal