diff --git a/.vscode/settings.default.json b/.vscode/settings.default.json
index d6469cb6b6bae8..1a5ba955dd21ab 100644
--- 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
index 20d8da47aa06e9..c21d5dbf4f5d7e 100644
--- 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
index 836a70853615e1..1db980b04aaa00 100644
--- 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
index 54b2719433fcd2..22c7687ef73ea9 100644
--- 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
index a05be96b61dd24..db4438ded4c063 100644
--- 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
index e8c2d5039661a3..4318da61e084e4 100644
--- 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
index 5ac04f8946c608..c797f86cfe1aaf 100644
--- 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
index ec167d96480adc..01d9d6d0ed1f02 100644
--- 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
index 1e6b5901bc8608..639aa73039e6a2 100644
--- 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
index 4a80e21943962d..ad78f76de7e216 100644
--- 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
index 4b46bd837dd58a..56998c367904db 100644
--- 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
index 90d493659b4fc3..168990b01f4c82 100644
--- 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
index 1e0b86a4e52409..f8fd851fbf5e11 100644
--- 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
index c3653f077cc2fe..f86637c5a143ab 100644
--- 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
index 592087be62ef25..f0641e0cf28229 100644
--- 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
index 3d44b579a28101..769e9d2df7a4ad 100644
--- 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
index dc3799a74a410d..5bde10d45bb60f 100644
--- 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
index 66149625735829..1c7ae1a07b2a65 100644
--- 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
index e8dbb86a0eb249..ef8d6194706ac3 100644
--- 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;
 
diff --git a/Rover/system.cpp b/Rover/system.cpp
index f358aee5b76486..67f0a8ebdfcbb3 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -174,10 +174,6 @@ void Rover::startup_ground(void)
         FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
         );
 #endif
-
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
 }
 
 // update the ahrs flyforward setting which can allow
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat
index 4994a739fb77af..965cd4462cba1e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat
@@ -85,11 +85,13 @@ define HAL_DISABLE_LOOP_DELAY
 #################################
 
 define HAL_BARO_ALLOW_INIT_NO_BARO
-define AP_RC_CHANNEL_ENABLED 1
 define AP_INERTIALSENSOR_ENABLED 0
 
 define AP_NETWORKING_MAX_INSTANCES 4
 
+define AP_SCRIPTING_ENABLED 1
+define AP_FILESYSTEM_ROMFS_ENABLED 1
+
 # listen for reboot command from uploader.py script
 # undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
 define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
index aae6ea9bc9b942..c570f8bf6cfa85 100644
--- a/libraries/AP_Parachute/AP_Parachute.cpp
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -241,7 +241,17 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
 bool AP_Parachute::get_legacy_relay_index(int8_t &index) const
 {
     // PARAMETER_CONVERSION - Added: Dec-2023
-    if (!enabled() || (_release_type > AP_PARACHUTE_TRIGGER_TYPE_RELAY_3)) {
+    if (_release_type > AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
+        // Not relay type
+        return false;
+    }
+    if (!enabled() && !_enabled.configured()) {
+        // Disabled and parameter never changed
+        // Copter manual parachute release enables and deploys in one step
+        // This means it is possible for parachute to still function correctly if disabled at boot
+        // Checking if the enable param is configured means the user must have setup chute at some point
+        // this means relay parm conversion will be done if parachute has ever been enabled
+        // Parachute has priority in relay param conversion, so this might mean we overwrite some other function
         return false;
     }
     index = _release_type; 
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
index bf286f8985aaec..d35d12d0e2b434 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
@@ -20,11 +20,6 @@
 
 #include "AP_RCProtocol_IBUS.h"
 
-// constructor
-AP_RCProtocol_IBUS::AP_RCProtocol_IBUS(AP_RCProtocol &_frontend) :
-    AP_RCProtocol_Backend(_frontend)
-{}
-
 // decode a full IBUS frame
 bool AP_RCProtocol_IBUS::ibus_decode(const uint8_t frame[IBUS_FRAME_SIZE], uint16_t *values, bool *ibus_failsafe)
 {
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
index b3e759781662ae..179eb22e22032b 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
@@ -30,7 +30,8 @@
 class AP_RCProtocol_IBUS : public AP_RCProtocol_Backend
 {
 public:
-    AP_RCProtocol_IBUS(AP_RCProtocol &_frontend);
+    using AP_RCProtocol_Backend::AP_RCProtocol_Backend;
+
     void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
     void process_byte(uint8_t byte, uint32_t baudrate) override;
 private:
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index f31e6a8ebf623a..b77fac9b9a3988 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1221,7 +1221,6 @@ compass = {}
 ---@return boolean
 function compass:healthy(instance) end
 
-
 -- desc
 ---@class camera
 camera = {}
@@ -1506,6 +1505,7 @@ function ins:get_gyro_health(instance) end
 ---@return boolean
 function ins:get_accel_health(instance) end
 
+
 -- Get the value of a specific gyroscope
 ---@param instance integer -- the 0-based index of the gyroscope instance to return.
 ---@return Vector3f_ud
@@ -1516,6 +1516,11 @@ function ins:get_gyro(instance) end
 ---@return Vector3f_ud
 function ins:get_accel(instance) end
 
+-- Get if the INS is currently calibrating
+---@return boolean
+function ins:calibrating() end
+
+
 -- desc
 ---@class Motors_dynamic
 Motors_dynamic = {}
@@ -3382,6 +3387,14 @@ fs = {}
 ---@return stat_t_ud|nil
 function fs:stat(param1) end
 
+-- Format the SD card. This is a async operation, use get_format_status to get the status of the format
+---@return boolean
+function fs:format() end
+
+-- Get the current status of a format. 0=NOT_STARTED, 1=PENDING, 2=IN_PROGRESS, 3=SUCCESS, 4=FAILURE
+---@return number
+function fs:get_format_status() end
+
 -- desc
 ---@class networking
 networking = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 33af2745fcbb79..289697349f2c9b 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -635,6 +635,7 @@ singleton AP_InertialSensor method get_gyro_health boolean uint8_t'skip_check
 singleton AP_InertialSensor method get_accel_health boolean uint8_t'skip_check
 singleton AP_InertialSensor method get_gyro Vector3f uint8_t'skip_check
 singleton AP_InertialSensor method get_accel Vector3f uint8_t'skip_check
+singleton AP_InertialSensor method calibrating boolean
 
 singleton CAN manual get_device lua_get_CAN_device 1
 singleton CAN manual get_device2 lua_get_CAN_device2 1
@@ -883,6 +884,8 @@ userdata AP_Filesystem::stat_t method is_directory boolean
 
 singleton AP_Filesystem rename fs
 singleton AP_Filesystem method stat boolean string AP_Filesystem::stat_t'Null
+singleton AP_Filesystem method format boolean
+singleton AP_Filesystem method get_format_status uint8_t'skip_check
 
 include AP_RTC/AP_RTC.h depends AP_RTC_ENABLED
 include AP_RTC/AP_RTC_config.h
diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index c138c19d79a2a5..fcb78c2799e712 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -258,6 +258,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(stats, "STAT", 27, AP_Vehicle, AP_Stats),
 #endif
 
+#if AP_SCRIPTING_ENABLED
+    // @Group: SCR_
+    // @Path: ../AP_Scripting/AP_Scripting.cpp
+    AP_SUBGROUPINFO(scripting, "SCR_", 28, AP_Vehicle, AP_Scripting),
+#endif
+
     AP_GROUPEND
 };
 
@@ -367,6 +373,10 @@ void AP_Vehicle::setup()
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 
+#if AP_SCRIPTING_ENABLED
+    scripting.init();
+#endif // AP_SCRIPTING_ENABLED
+
 #if AP_AIRSPEED_ENABLED
     airspeed.init();
     if (airspeed.enabled()) {
@@ -976,10 +986,7 @@ void AP_Vehicle::one_Hz_update(void)
     }
 
 #if AP_SCRIPTING_ENABLED
-    AP_Scripting *scripting = AP_Scripting::get_singleton();
-    if (scripting != nullptr) {
-        scripting->update();
-    }
+    scripting.update();
 #endif
 
 }
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 32e0f3150cb953..3e38ac9b63691c 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -69,6 +69,9 @@
 #include <AP_KDECAN/AP_KDECAN.h>
 #include <Filter/AP_Filter.h>
 #include <AP_Stats/AP_Stats.h>              // statistics library
+#if AP_SCRIPTING_ENABLED
+#include <AP_Scripting/AP_Scripting.h>
+#endif
 
 class AP_DDS_Client;
 
@@ -415,6 +418,10 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     AP_TemperatureSensor temperature_sensor;
 #endif
 
+#if AP_SCRIPTING_ENABLED
+    AP_Scripting scripting;
+#endif
+
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Scheduler::Task scheduler_tasks[];