From 76743b7f1d2a4baf9e00d30f771eb4fc1031567b Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Thu, 28 Feb 2019 23:40:18 -0700
Subject: [PATCH] AntennaTracker: Allow scripting to run

---
 AntennaTracker/Parameters.cpp | 5 +++++
 AntennaTracker/Parameters.h   | 2 ++
 AntennaTracker/Tracker.h      | 8 ++++++++
 AntennaTracker/system.cpp     | 6 ++++++
 4 files changed, 21 insertions(+)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index aad3d3b519..f16046b080 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -370,6 +370,11 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
 	GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
 
+#ifdef ENABLE_SCRIPTING
+    // Scripting is intentionally not showing up in the parameter docs until it is a more standard feature
+    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.
diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index e0c34f21a8..530c7fb788 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -108,6 +108,8 @@ public:
         k_param_rc_channels,
         k_param_servo_channels,
 
+        k_param_scripting = 219,
+
         //
         // 220: Waypoint data
         //
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index df49fbd945..f748b61a4a 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -69,6 +69,10 @@
 #include "GCS_Mavlink.h"
 #include "GCS_Tracker.h"
 
+#ifdef ENABLE_SCRIPTING
+#include <AP_Scripting/AP_Scripting.h>
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 #endif
@@ -155,6 +159,10 @@ private:
 
     enum ControlMode control_mode  = INITIALISING;
 
+#ifdef ENABLE_SCRIPTING
+    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 e6666b6ffd..58016952ed 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -53,6 +53,12 @@ void Tracker::init_tracker()
     log_init();
 #endif
 
+#ifdef ENABLE_SCRIPTING
+    if (!scripting.init()) {
+        gcs().send_text(MAV_SEVERITY_ERROR, "Scripting failed to start");
+    }
+#endif // ENABLE_SCRIPTING
+
     // initialise compass
     init_compass();