From a3cdfd0e3cb3d4bd663b47bcfb13d4e97cebf73e Mon Sep 17 00:00:00 2001
From: Stephen Dade <stephen_dade@hotmail.com>
Date: Wed, 21 Dec 2022 11:39:20 +1100
Subject: [PATCH] AP_Scripting: Add high latency MAVLink control

---
 libraries/AP_Scripting/docs/docs.lua                     | 9 +++++++++
 .../AP_Scripting/generator/description/bindings.desc     | 4 ++++
 2 files changed, 13 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 71c4291b7e0..bc9d8955714 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1882,6 +1882,15 @@ function gcs:send_named_float(name, value) end
 ---| '4' # Failed
 function gcs:set_message_interval(port_num, msg_id, interval_us) end
 
+-- set high latency control state. Analogous to MAV_CMD_CONTROL_HIGH_LATENCY
+---@param enabled boolean -- true to enable or false to disable
+---@return void
+function gcs:enable_high_latency_connections(enabled) end
+
+-- get the the current state of high latency control
+---@return boolean
+function gcs:get_high_latency_status() end
+
 -- send text with severity level
 ---@param severity integer
 ---| '0' # Emergency: System is unusable. This is a "panic" condition.
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 31e86b78724..d0c876b92f8 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -226,6 +226,10 @@ singleton GCS method send_text void MAV_SEVERITY'enum MAV_SEVERITY_EMERGENCY MAV
 singleton GCS method set_message_interval MAV_RESULT'enum uint8_t 0 MAVLINK_COMM_NUM_BUFFERS uint32_t'skip_check int32_t -1 INT32_MAX
 singleton GCS method send_named_float void string float'skip_check
 
+singleton GCS depends HAL_HIGH_LATENCY2_ENABLED == 1
+singleton GCS method get_high_latency_status boolean
+singleton GCS method enable_high_latency_connections void boolean
+
 include AP_ONVIF/AP_ONVIF.h depends ENABLE_ONVIF == 1
 singleton AP_ONVIF depends ENABLE_ONVIF == 1
 singleton AP_ONVIF rename onvif