From d17b528cabcd16742276e5d1ae46b58a04a8c5ec Mon Sep 17 00:00:00 2001
From: MatthewHampsey <matthewjohnhampsey@gmail.com>
Date: Thu, 15 Sep 2022 13:51:06 +1000
Subject: [PATCH] AP_Scripting: added new functions to support trajectory
 script

---
 libraries/AP_Scripting/docs/docs.lua          | 76 +++++++++++++++++++
 .../generator/description/bindings.desc       | 18 +++++
 2 files changed, 94 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 908e2127bc..29c655f4f3 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -462,6 +462,11 @@ function Vector3f_ud:normalize() end
 ---@return number
 function Vector3f_ud:length() end
 
+-- Computes angle between this vector and vector v2
+---@param v2 Vector3f_ud 
+---@return number
+function Vector3f_ud:angle(v2) end
+
 -- desc
 ---@param param1 number -- XY rotation in radians
 function Vector3f_ud:rotate_xy(param1) end
@@ -470,6 +475,77 @@ function Vector3f_ud:rotate_xy(param1) end
 ---@return Vector2f_ud
 function Vector3f_ud:xy() end
 
+-- desc
+---@class Quaternion_ud
+local Quaternion_ud = {}
+
+---@return Quaternion_ud
+function Quaternion() end
+
+-- get field
+---@return number
+function Quaternion_ud:q4() end
+
+-- set field
+---@param value number
+function Quaternion_ud:q4(value) end
+
+-- get field
+---@return number
+function Quaternion_ud:q3() end
+
+-- set field
+---@param value number
+function Quaternion_ud:q3(value) end
+
+-- get field
+---@return number
+function Quaternion_ud:q2() end
+
+-- set field
+---@param value number
+function Quaternion_ud:q2(value) end
+
+-- get field
+---@return number
+function Quaternion_ud:q1() end
+
+-- set field
+---@param value number
+function Quaternion_ud:q1(value) end
+
+-- Applies rotation to vector argument
+---@param vec Vector3f_ud
+function Quaternion_ud:earth_to_body(vec) end
+
+-- Returns inverse of quaternion
+---@return Quaternion_ud
+function Quaternion_ud:inverse() end
+
+-- Construct quaternion from Euler angles
+---@param roll number
+---@param pitch number
+---@param yaw number
+function Quaternion_ud:from_euler(roll, pitch, yaw) end
+
+-- Returns yaw component of quaternion
+---@return number
+function Quaternion_ud:get_euler_yaw() end
+
+-- Returns pitch component of quaternion
+---@return number
+function Quaternion_ud:get_euler_pitch() end
+
+-- Returns roll component of quaternion
+---@return number
+function Quaternion_ud:get_euler_roll() end
+
+-- Mutates quaternion have length 1
+function Quaternion_ud:normalize() end
+
+-- Returns length or norm of quaternion
+---@return number
+function Quaternion_ud:length() end
 
 -- desc
 ---@class Location_ud
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index b879586d9d..1b670870f6 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -55,6 +55,7 @@ singleton AP_AHRS method get_origin boolean Location'Null
 singleton AP_AHRS method set_origin boolean Location
 singleton AP_AHRS method initialised boolean
 singleton AP_AHRS method get_posvelyaw_source_set uint8_t
+singleton AP_AHRS method get_quaternion boolean Quaternion'Null
 
 include AP_Arming/AP_Arming.h
 
@@ -128,6 +129,7 @@ userdata Vector3f method scale Vector3f float'skip_check
 userdata Vector3f method copy Vector3f
 userdata Vector3f method xy Vector2f
 userdata Vector3f method rotate_xy void float'skip_check
+userdata Vector3f method angle float Vector3f
 
 userdata Vector2f field x float'skip_check read write
 userdata Vector2f field y float'skip_check read write
@@ -142,6 +144,22 @@ userdata Vector2f operator +
 userdata Vector2f operator -
 userdata Vector2f method copy Vector2f
 
+userdata Quaternion field q1 float'skip_check read write
+userdata Quaternion field q2 float'skip_check read write
+userdata Quaternion field q3 float'skip_check read write
+userdata Quaternion field q4 float'skip_check read write
+userdata Quaternion method length float
+userdata Quaternion method normalize void
+userdata Quaternion operator *
+userdata Quaternion method get_euler_roll float
+userdata Quaternion method get_euler_pitch float
+userdata Quaternion method get_euler_yaw float
+userdata Quaternion method from_euler void float'skip_check float'skip_check float'skip_check 
+userdata Quaternion method inverse Quaternion
+userdata Quaternion method earth_to_body void Vector3f
+userdata Quaternion method to_axis_angle void Vector3f
+userdata Quaternion method from_axis_angle  void Vector3f float'skip_check
+userdata Quaternion method from_angular_velocity void Vector3f float'skip_check
 
 include AP_Notify/AP_Notify.h
 singleton AP_Notify rename notify