AP_Vehicle: call scripting update from 1Hz loop

ArduPilot · Dec 3, 2023 · f7967b4 · f7967b4
1 parent defc39b
commit f7967b4
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -22,6 +22,7 @@
 #include <AP_IOMCU/AP_IOMCU.h>
 extern AP_IOMCU iomcu;
 #endif
+#include <AP_Scripting/AP_Scripting.h>
 
 #define SCHED_TASK(func, rate_hz, max_time_micros, prio) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros, prio)
 
@@ -562,9 +563,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_EFI_ENABLED
     SCHED_TASK_CLASS(AP_EFI,       &vehicle.efi,            update,                   50, 200, 250),
 #endif
-#if HAL_INS_ACCELCAL_ENABLED
     SCHED_TASK(one_Hz_update,                                                         1, 100, 252),
-#endif
 #if HAL_WITH_ESC_TELEM && HAL_GYROFFT_ENABLED
     SCHED_TASK(check_motor_noise,      5,     50, 252),
 #endif
@@ -944,6 +943,14 @@ void AP_Vehicle::one_Hz_update(void)
         }
 #endif
     }
+
+#if AP_SCRIPTING_ENABLED
+    AP_Scripting *scripting = AP_Scripting::get_singleton();
+    if (scripting != nullptr) {
+        scripting->update();
+    }
+#endif
+
 }
 
 void AP_Vehicle::check_motor_noise()