A uniform performant scripting language for use inside any drone or GCSes.

FIXME

A given vehicle/GCS platform must implement an 'adapter' so flsq can run in that environment.

Mavlink accessor classes are automatically generated from the message definition XML. Unfortunately for most vehicles these generated files are too large to be completely loaded (100K of bytecode). The solution to this problem is that we generate one file for each interface, and lazy load the implementations as needed. Considering that most applications only care about a few mavlink packet types this seems a good solution.

The SQInstruction is very large. (4 bytes of arg for every instruction + 4 bytes of misc stuff). This is the predominant reason the following RAM footprint for squirrel is so high:

• 27K of RAM in SQSharedState::Init
• 4K in misc sq_open (SQVM init)
• 7K in sq_base_register
• 25K in std libs init (I later turned off some of this)

This is very early code and the installation is painful. Probably not worth the bother unless you and I are collaborating on this.

• Git clone this repo by cding into workingdir then running "git clone git@github.com:geeksville/flsq.git"
• Git pull the arduplane code (this code is currently up-to-date with TOT diydrones): git clone https://github.com/diydrones/ardupilot.git
• cd ardupilot, "git checkout -b droneworks origin/droneworks
• cd Arduplane, "make config"
• cd .. and edit config.mk as follows:

  If you are interested in trying the Flying Squirrel (flsq) scripting environment, you should define the following

  variable.

  export FLSQ_ROOT = workingdir/dronescript
• cd .., git clone https://github.com/diydrones/PX4Firmware.git
• cd ardupilot/Arduplane
• make px4-upload
• Copy needed files to the SD card:
  • Remove SD card from PX4 and insert into your computer
  • Run flsq/install-sd (you'll need to customize for your sdcard name - because this script is still crufty)
• On the vehicle, type 3 returns to get an arduplane prompt, then type "test", then "shell" then "flsq /fs/microsd/flsq/startup.nut"
• If you'd like to regen the mavlink glue code, for the time being you'll need to pull from the "fordronescript" branch of https://github.com/geeksville/mavlink

• Add license

• Explain arch

  • Squirrel (modified for Nuttx)
  • Setjmp/longjmp
  • flying squirrel library - user level API for developing squirrel apps for vehicles(flsq)
  • flying squirrel adapter - the C/C++ stub which must be provided for any new autopilot library or GCS

• make adapter layer for px4 (done)

• Add debug library (done)

• Make vario proof-of-concept (done)

• Change vehicle init scripts to boot flsq if available

• For Nuttx/P4 handler

  • lower priority
  • use own heap (define sq_malloc)

• For SITL handler

  • implement

• Add install instructions

• Add mechanism so we only ask native code to send us the mavlink packets we are interested in (rather than all packets)

• Optionally generate/check CRCs on mavlink packets
• Make the mavlink generated classes more compact, possibly create them completely programmatically from arrays that are passed in?
• make a loadbinary() that compiles to binary if necessary and writes the compiled file to disk - to make for faster loading than compiling from src