Copter: Allow scripting to run

ArduCopter/Copter.h

@@ -170,6 +170,10 @@
  #include <AP_RPM/AP_RPM.h>
 #endif
 
+#ifdef ENABLE_SCRIPTING
+#include <AP_Scripting/AP_Scripting.h>
+#endif
+
 // Local modules
 #ifdef USER_PARAMS_ENABLED
 #include "UserParameters.h"

ArduCopter/Parameters.cpp

@@ -930,6 +930,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPPTR(autotune_ptr, "AUTOTUNE_",  29, ParametersG2, Copter::AutoTune),
 #endif
 
+#ifdef ENABLE_SCRIPTING
+    // Scripting is intentionally not showing up in the parameter docs until it is a more standard feature
+    AP_SUBGROUPINFO(scripting, "SCR_", 30, ParametersG2, AP_Scripting),
+#endif
+    
     AP_GROUPEND
 };
 

ArduCopter/Parameters.h

@@ -583,6 +583,11 @@ public:
     // we need a pointer to autotune for the G2 table
     void *autotune_ptr;
 #endif
+
+#ifdef ENABLE_SCRIPTING
+    AP_Scripting scripting;
+#endif // ENABLE_SCRIPTING
+
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/system.cpp

@@ -244,6 +244,12 @@ void Copter::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
+
     // set landed flags
     set_land_complete(true);
     set_land_complete_maybe(true);