From cac4b91671d3844981f70c298ee0ec22bd2232ec Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Thu, 28 Feb 2019 23:40:53 -0700
Subject: [PATCH] Copter: Allow scripting to run

---
 ArduCopter/Copter.h       | 4 ++++
 ArduCopter/Parameters.cpp | 5 +++++
 ArduCopter/Parameters.h   | 5 +++++
 ArduCopter/system.cpp     | 6 ++++++
 4 files changed, 20 insertions(+)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index db5f5800a7..0241f23281 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -170,6 +170,10 @@
  #include <AP_RPM/AP_RPM.h>
 #endif
 
+#ifdef ENABLE_SCRIPTING
+#include <AP_Scripting/AP_Scripting.h>
+#endif
+
 // Local modules
 #ifdef USER_PARAMS_ENABLED
 #include "UserParameters.h"
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 5609dc507c..28ae87a981 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -929,6 +929,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AC_AutoTune/AC_AutoTune.cpp
     AP_SUBGROUPPTR(autotune_ptr, "AUTOTUNE_",  29, ParametersG2, Copter::AutoTune),
 #endif
+
+#ifdef ENABLE_SCRIPTING
+    // Scripting is intentionally not showing up in the parameter docs until it is a more standard feature
+    AP_SUBGROUPINFO(scripting, "SCR_", 30, ParametersG2, AP_Scripting),
+#endif
     
     AP_GROUPEND
 };
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index a05df886b0..a9d248f410 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -583,6 +583,11 @@ public:
     // we need a pointer to autotune for the G2 table
     void *autotune_ptr;
 #endif
+
+#ifdef ENABLE_SCRIPTING
+    AP_Scripting scripting;
+#endif // ENABLE_SCRIPTING
+
 };
 
 extern const AP_Param::Info        var_info[];
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index d249f3a132..e530961a59 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -244,6 +244,12 @@ void Copter::init_ardupilot()
 
     startup_INS_ground();
 
+#ifdef ENABLE_SCRIPTING
+    if (!g2.scripting.init()) {
+        gcs().send_text(MAV_SEVERITY_ERROR, "Scripting failed to start");
+    }
+#endif // ENABLE_SCRIPTING
+
     // set landed flags
     set_land_complete(true);
     set_land_complete_maybe(true);