Merge branch 'master' into pr-add-get-gyroaccel-scripting

ArduPilot · Feb 7, 2024 · 1555138 · 1555138
2 parents da1ce28 + ae19d03
commit 1555138
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Showing 28 changed files with 145 additions and 102 deletions.
diff --git a/.vscode/settings.default.json b/.vscode/settings.default.json
@@ -1,4 +1,5 @@
 {
     "cSpell.language": "en-GB",
-    "astyle.astylerc": "${workspaceFolder}/Tools/CodeStyle/astylerc"
+    "astyle.astylerc": "${workspaceFolder}/Tools/CodeStyle/astylerc",
+    "Lua.runtime.version": "Lua 5.3"
 }
diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
@@ -505,12 +505,6 @@ const AP_Param::Info Tracker::var_info[] = {
 
     GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    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.
@@ -619,6 +613,11 @@ void Tracker::load_parameters(void)
     AP_Param::convert_class(g.k_param_stats_old, &stats, stats.var_info, 0, 0, true);
 #endif
 
+#if AP_SCRIPTING_ENABLED
+    // PARAMETER_CONVERSION - Added: Jan-2024
+    AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
 
 #if HAL_HAVE_SAFETY_SWITCH

diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
@@ -115,7 +115,7 @@ class Parameters {
         k_param_servo_channels,
 
         k_param_stats_old = 218,
-        k_param_scripting = 219,
+        k_param_scripting_old = 219,
 
         //
         // 220: Waypoint data

diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
@@ -53,10 +53,6 @@
 
 #include "AP_Arming.h"
 
-#if AP_SCRIPTING_ENABLED
-#include <AP_Scripting/AP_Scripting.h>
-#endif
-
 #include "mode.h"
 
 class Tracker : public AP_Vehicle {
@@ -115,10 +111,6 @@ class Tracker : public AP_Vehicle {
     ModeServoTest mode_servotest;
     ModeStop mode_stop;
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif
-
     // Vehicle state
     struct {
         bool location_valid;    // true if we have a valid location for the vehicle

diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
@@ -28,10 +28,6 @@ void Tracker::init_ardupilot()
     log_init();
 #endif
 
-#if AP_SCRIPTING_ENABLED
-    scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -821,6 +821,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
 
+    // 12 was AP_Stats
+
 #if AP_GRIPPER_ENABLED
     // @Group: GRIP_
     // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
@@ -911,11 +913,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPPTR(autotune_ptr, "AUTOTUNE_",  29, ParametersG2, AutoTune),
 #endif
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 30, ParametersG2, AP_Scripting),
-#endif
+    // 30 was AP_Scripting
 
     // @Param: TUNE_MIN
     // @DisplayName: Tuning minimum
@@ -1390,6 +1388,20 @@ void Copter::load_parameters(void)
         AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
     }
 #endif
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 30;       // Old parameter index in g2
+        const uint16_t old_top_element = 94; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
+    }
+#endif
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
@@ -600,10 +600,6 @@ class ParametersG2 {
     void *autotune_ptr;
 #endif
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
-
     AP_Float tuning_min;
     AP_Float tuning_max;
 

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
@@ -179,10 +179,6 @@ void Copter::init_ardupilot()
 
     startup_INS_ground();
 
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
 #if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
     custom_control.init();
 #endif

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -1033,6 +1033,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 4, ParametersG2, sysid_enforce, 0),
 
+    // AP_Stats was 5
+
     // @Group: SERVO
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
     AP_SUBGROUPINFO(servo_channels, "SERVO", 6, ParametersG2, SRV_Channels),
@@ -1098,11 +1100,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 14, ParametersG2, AP_Scripting),
-#endif
+    // 14 was AP_Scripting
 
     // @Param: TKOFF_ACCEL_CNT
     // @DisplayName: Takeoff throttle acceleration count
@@ -1566,6 +1564,20 @@ void Plane::load_parameters(void)
         AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
     }
 #endif
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 14;       // Old parameter index in g2
+        const uint16_t old_top_element = 78; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
+    }
+#endif
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
@@ -519,10 +519,6 @@ class ParametersG2 {
 
     AP_Int32 flight_options;
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
-
     AP_Int8 takeoff_throttle_accel_count;
     AP_Int8 takeoff_timeout;
 

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
@@ -176,10 +176,6 @@ void Plane::startup_ground(void)
         );
 #endif
 
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
     // reset last heartbeat time, so we don't trigger failsafe on slow
     // startup
     gcs().sysid_myggcs_seen(AP_HAL::millis());

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
@@ -690,6 +690,9 @@ const AP_Param::Info Sub::var_info[] = {
   2nd group of parameters
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
+
+    // 1 was AP_Stats
+
 #if HAL_PROXIMITY_ENABLED
     // @Group: PRX
     // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
@@ -710,11 +713,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
     AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 18, ParametersG2, AP_Scripting),
-#endif
+    // 18 was scripting
 
     // 19 was airspeed
 
@@ -800,6 +799,20 @@ void Sub::load_parameters()
         const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
         AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
     }
+#endif
+    // PARAMETER_CONVERSION - Added: Jan-2024
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo scripting_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
+            return;
+        }
+
+        const uint16_t scripting_old_index = 18;       // Old parameter index in g2
+        const uint16_t scripting_old_top_element = 82; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
+    }
 #endif
 }
 

diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
@@ -7,10 +7,6 @@
 #include <AP_Gripper/AP_Gripper.h>
 #include <AP_Arming/AP_Arming.h>
 
-#if AP_SCRIPTING_ENABLED
-#include <AP_Scripting/AP_Scripting.h>
-#endif
-
 // Global parameter class.
 //
 class Parameters {
@@ -372,9 +368,6 @@ class ParametersG2 {
     // control over servo output ranges
     SRV_Channels servo_channels;
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
 };
 
 extern const AP_Param::Info        var_info[];

diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
@@ -157,10 +157,6 @@ void Sub::init_ardupilot()
 
     startup_INS_ground();
 
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
     // enable CPU failsafe
     mainloop_failsafe_enable();
 

diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
@@ -780,6 +780,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
 
+    // 12 was AP_Stats
+
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
     // @Description: Controls major frame class for blimp.
@@ -805,11 +807,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("PILOT_SPEED_DN", 24, ParametersG2, pilot_speed_dn, 0),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 30, ParametersG2, AP_Scripting),
-#endif
+    // 30 was AP_Scripting
 
     // @Param: FS_VIBE_ENABLE
     // @DisplayName: Vibration Failsafe enable
@@ -882,6 +880,20 @@ void Blimp::load_parameters(void)
         AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
     }
 #endif
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 30;       // Old parameter index in g2
+        const uint16_t old_top_element = 94; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
+    }
+#endif
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 

diff --git a/Blimp/Parameters.h b/Blimp/Parameters.h
@@ -305,11 +305,6 @@ class ParametersG2
     // Land alt final stage
     AP_Int16 land_alt_low;
 
-
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
-
     // vibration failsafe enable/disable
     AP_Int8 fs_vibe_enabled;
 

diff --git a/Blimp/system.cpp b/Blimp/system.cpp
@@ -79,10 +79,6 @@ void Blimp::init_ardupilot()
 
     startup_INS_ground();
 
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 
     // setup fin output

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
@@ -404,6 +404,8 @@ const AP_Param::Info Rover::var_info[] = {
   2nd group of parameters
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
+    // 1 was AP_Stats
+
     // @Param: SYSID_ENFORCE
     // @DisplayName: GCS sysid enforcement
     // @Description: This controls whether packets from other than the expected GCS system ID will be accepted
@@ -599,11 +601,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("BAL_PITCH_TRIM", 40, ParametersG2, bal_pitch_trim, 0),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 41, ParametersG2, AP_Scripting),
-#endif
+    // 41 was Scripting
 
     // @Param: STICK_MIXING
     // @DisplayName: Stick Mixing
@@ -931,5 +929,19 @@ void Rover::load_parameters(void)
         AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
     }
 #endif
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo scripting_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
+            return;
+        }
+
+        const uint16_t scripting_old_index = 41;       // Old parameter index in g2
+        const uint16_t scripting_old_top_element = 105; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
+    }
+#endif
 
 }
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
@@ -396,10 +396,6 @@ class ParametersG2 {
     // stick mixing for auto modes
     AP_Int8     stick_mixing;
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
-
     // waypoint navigation
     AR_WPNav_OA wp_nav;