AP_Scripting:Add mission to Script_Controller and improve

libraries/AP_Scripting/applets/Script_Controller.lua

@@ -4,8 +4,13 @@
 --]]
 
 local THIS_SCRIPT = "Script_Controller.lua"
-local SEL_CH = 302
+local sel_ch = Parameter("SCR_USER6")
+SEL_CH = sel_ch:get()
+if SEL_CH == 0 then
+   SEL_CH = 302
+end
 
+MISSION_FILENAME = "mission.txt"
 --[[
    check that directory exists
 --]]
@@ -157,6 +162,55 @@ function copy_scripts(subdir)
    return ret
 end
 
+ --[[ 
+   load a mission from a MISSION_FILENAME file in subdirectory n
+ --]]
+function mission_load(n)
+  file_name = get_scripts_dir() .. "/" .. n .."/" .. MISSION_FILENAME
+  -- Open file
+  file = io.open(file_name)
+  if not file then
+     return
+  end
+  -- check header
+  assert(string.find(file:read('l'),'QGC WPL 110') == 1, file_name .. ': incorrect format')
+  -- clear any existing mission
+  assert(mission:clear(), 'Could not clear current mission')
+  -- read each line and write to mission
+  local item = mavlink_mission_item_int_t()
+  local index = 0
+  while true do
+    local data = {}
+    for i = 1, 12 do
+      data[i] = file:read('n')
+      if data[i] == nil then
+        if i == 1 then
+          gcs:send_text(6, 'loaded mission: ' .. file_name)
+          return -- got to the end of the file
+        else
+          mission:clear() -- clear part loaded mission
+          error('failed to read file')
+        end
+      end
+    end
+    item:seq(data[1])
+    item:frame(data[3])
+    item:command(data[4])
+    item:param1(data[5])
+    item:param2(data[6])
+    item:param3(data[7])
+    item:param4(data[8])
+    item:x(data[9]*10^7)
+    item:y(data[10]*10^7)
+    item:z(data[11])
+    if not mission:set_item(index,item) then
+      mission:clear() -- clear part loaded mission
+      error(string.format('failed to set mission item %i',index))
+    end
+    index = index + 1
+  end
+end
+
 --[[
    activate a scripting subdirectory
 --]]
@@ -171,31 +225,33 @@ end
 local sw_last = -1
 function update()
    local sw_current = rc:get_aux_cached(SEL_CH)
-   if sw_current == sw_last then
+   if sw_current == sw_last or sw_current == nil then
       return update, 500
    end
-   if sw_current == 0 then 
-        subdir = 1
+   if sw_current == 1  then 
+        subdir = 2
       elseif sw_current == 2 then
         subdir = 3
       else
-        subdir = 2
+        subdir = 1  --default if RC not established yet
    end
    sw_last = sw_current
    if not check_subdir_exists(subdir) then
       gcs:send_text(0,string.format("Scripts subdirectory /%s does not exist!",subdir))
       return update, 500
    end
+
    changes_made = activate_subdir(subdir)
    if changes_made then
       scripting:restart_all()
    else
-      gcs:send_text(0, string.format("Script subbdirectory %s active", subdir))
+      mission_load(subdir)
+      gcs:send_text(0, string.format("Scripts subbdirectory %s active", subdir))
    end
    return update, 500
 end
 
-gcs:send_text(5,"Loaded Script_Controller.lua")
+gcs:send_text(6,"Loaded Script_Controller.lua")
 return update, 500