RC_Channel: add function to stop or restart scripting

Author: andyp1per

libraries/RC_Channel/RC_Channel.cpp

@@ -60,6 +60,7 @@ extern const AP_HAL::HAL& hal;
 #include <AP_Torqeedo/AP_Torqeedo.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_Parachute/AP_Parachute_config.h>
+#include <AP_Scripting/AP_Scripting.h>
 #define SWITCH_DEBOUNCE_TIME_MS  200
 
 const AP_Param::GroupInfo RC_Channel::var_info[] = {
@@ -259,7 +260,8 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Copter, Rover, Plane, Sub}: 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw
     // @Values{Copter, Rover, Plane, Blimp, Sub}:  218:Loweheiser throttle
     // @Values{Copter}: 219:Transmitter Tuning
-    // @Values{Copter, Rover, Plane, Sub}: 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8, 308:Scripting9, 309:Scripting10, 310:Scripting11, 311:Scripting12, 312:Scripting13, 313:Scripting14, 314:Scripting15, 315:Scripting16
+    // @Values: 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8, 308:Scripting9, 309:Scripting10, 310:Scripting11, 311:Scripting12, 312:Scripting13, 313:Scripting14, 314:Scripting15, 315:Scripting16
+    // @Values: 316:Stop-Restart Scripting
     // @User: Standard
     AP_GROUPINFO("OPTION",  6, RC_Channel, option, 0),
 
@@ -717,6 +719,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::SCRIPTING_14:
     case AUX_FUNC::SCRIPTING_15:
     case AUX_FUNC::SCRIPTING_16:
+    case AUX_FUNC::STOP_RESTART_SCRIPTING:
 #endif
 #if AP_VIDEOTX_ENABLED
     case AUX_FUNC::VTX_POWER:
@@ -1896,7 +1899,26 @@ bool RC_Channel::do_aux_function(const AuxFuncTrigger &trigger)
     }
 #endif
 
-    // do nothing for these functions
+#if AP_SCRIPTING_ENABLED
+    case AUX_FUNC::STOP_RESTART_SCRIPTING: {
+        AP_Scripting *scr = AP::scripting();
+        if (scr != nullptr) {
+            switch (ch_flag) {
+            case AuxSwitchPos::HIGH:
+                scr->stop();
+                break;
+            case AuxSwitchPos::MIDDLE:
+                break;
+            case AuxSwitchPos::LOW:
+                scr->restart_all();
+                break;
+            }
+        }
+        break;
+    }
+#endif
+
+// do nothing for these functions
 #if HAL_MOUNT_ENABLED
     case AUX_FUNC::MOUNT1_ROLL:
     case AUX_FUNC::MOUNT1_PITCH:

libraries/RC_Channel/RC_Channel.h

@@ -416,10 +416,11 @@ class RC_Channel {
         SCRIPTING_14 =       313,
         SCRIPTING_15 =       314,
         SCRIPTING_16 =       315,
+        STOP_RESTART_SCRIPTING =     316,   // emergency scripting disablement
 #endif  // AP_SCRIPTING_ENABLED
 
         // this must be higher than any aux function above
-        AUX_FUNCTION_MAX =   316,
+        AUX_FUNCTION_MAX =   317,
     };
 
     // auxiliary switch handling (n.b.: we store this as 2-bits!):