Sub: Allow scripting to run

ArduSub/Parameters.cpp

@@ -634,6 +634,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
     AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
 
+#ifdef ENABLE_SCRIPTING
+    // Scripting is intentionally not showing up in the parameter docs until it is a more standard feature
+    AP_SUBGROUPINFO(scripting, "SCR_", 18, ParametersG2, AP_Scripting),
+#endif
+
     AP_GROUPEND
 };
 

ArduSub/Parameters.h

@@ -4,6 +4,10 @@
 
 #include <AP_Gripper/AP_Gripper.h>
 
+#ifdef ENABLE_SCRIPTING
+#include <AP_Scripting/AP_Scripting.h>
+#endif
+
 // Global parameter class.
 //
 class Parameters {
@@ -331,6 +335,11 @@ public:
 
     // control over servo output ranges
     SRV_Channels servo_channels;
+
+#ifdef ENABLE_SCRIPTING
+    AP_Scripting scripting;
+#endif // ENABLE_SCRIPTING
+
 };
 
 extern const AP_Param::Info        var_info[];

ArduSub/Sub.h

@@ -119,6 +119,10 @@
 #include <AP_Camera/AP_Camera.h>          // Photo or video camera
 #endif
 
+#ifdef ENABLE_SCRIPTING
+#include <AP_Scripting/AP_Scripting.h>
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 #endif

ArduSub/system.cpp

@@ -190,6 +190,12 @@ void Sub::init_ardupilot()
 
     startup_INS_ground();
 
+#ifdef ENABLE_SCRIPTING
+    if (!g2.scripting.init()) {
+        gcs().send_text(MAV_SEVERITY_ERROR, "Scripting failed to start");
+    }
+#endif // ENABLE_SCRIPTING
+
     // we don't want writes to the serial port to cause us to pause
     // mid-flight, so set the serial ports non-blocking once we are
     // ready to fly