global: fix MD007 unordered list indentation in markdown files
Normalize unordered list indentation to use 2-space multiples:
- Top-level list items start at column 0
- Nested list items use 2 additional spaces per level
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD009 trailing whitespace in markdown files
Remove trailing whitespace from all affected markdown files.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD010 hard tabs in markdown files
Replace hard tab characters with 4 spaces.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD012 multiple consecutive blank lines in markdown
Collapse multiple consecutive blank lines to single blank lines
across all markdown files (excluding vendored code).
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
global: fix MD007 list indentation base level in markdown
Shift list indentation left by 2 spaces so top-level list items
start at column 0 instead of column 2.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD022 blank lines around headings in markdown
Ensure headings are surrounded by blank lines as required by
markdownlint MD022 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD032 blank lines around lists in markdown
Ensure lists are surrounded by blank lines as required by
markdownlint MD032 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD031 blank lines around code blocks in markdown
Ensure fenced code blocks are surrounded by blank lines as required
by markdownlint MD031 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD047 files should end with single newline
Ensure all markdown files end with exactly one newline character
as required by markdownlint MD047 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD023 headings must start at beginning of line
Remove leading whitespace from heading lines as required by
markdownlint MD023 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD007 remaining list indentation in markdown
Fix unordered list indentation to use correct spacing as required
by markdownlint MD007 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD030 spaces after list markers in markdown
Reduce multiple spaces after list markers to single space as
required by markdownlint MD030 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD022 blank lines around setext headings
Ensure setext-style headings (underlined with === or ---) are
surrounded by blank lines as required by markdownlint MD022 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD018 missing space after hash in headings
Add space after hash marks in atx-style headings as required by
markdownlint MD018 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD019 multiple spaces after hash in headings
Reduce multiple spaces after hash marks to single space in
atx-style headings as required by markdownlint MD019 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD012 multiple consecutive blank lines in markdown
Remove multiple consecutive blank lines and ensure files end with
exactly one newline as required by markdownlint MD012 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD023 headings with leading whitespace
Remove leading whitespace from setext-style heading text lines
as required by markdownlint MD023 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD022 blank line after heading in markdown
Add missing blank line after heading as required by markdownlint
MD022 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD009 trailing non-breaking space in markdown
Remove trailing non-breaking space (U+00A0) as required by
markdownlint MD009 rule.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tools/scripts: fix MD012 remaining multiple blank lines in markdown
Remove leading blank lines and whitespace-only lines that create
multiple consecutive blank lines.
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
If Lua raises an error we won't ever link the new_script into the list
and won't find it to remove it and free its components later. The
components do ultimately get freed by the destruction of the heap, and
there's no way to access them after, but we'd rather it be empty and
know nothing is dangling.
This should be replaced by storing the components as Lua objects and
letting Lua's GC take care of them. That way the code could be made much
less fragile.
Also removes a chance of a leak in run_next_script.
This should never be called so there's not much to be gained from a
panic message. If it is, the call should be identifiable by the internal
error line number.
Nominally cannot be called as we do not call error-raising Lua functions
outside of protected mode. In the event a panic happens somehow anyway,
Lua calls `lua_abort` which we already handle safely.
Lua calls our registered panic function if a Lua error is raised outside
of any protected mode set up by `lua_pcall` and friends. As scripts
themselves are run in protected mode, such an error will only originate
from our engine code.
The current code handles panics, but does so incorrectly by neglecting
to free the error message buffer during a panic exit. As the underlying
heap is eventually destroyed and recreated, that static buffer pointer
is to a heap that no longer exists. If the new state raises an error it
will try to free that pointer, causing heap corruption and sadness.
Fix this issue and avoid similar ones by refactoring to run the main
part of the scripting engine in Lua protected mode. This creates exactly
one exit path from the scripting engine and avoids the need for fragile
panic handling infrastructure that duplicates what is built into Lua.
Quoth the Lua manual, "The panic function, as its name implies, is a
mechanism of last resort. Programs should avoid it."
This is unlikely to be triggerable in flight as the main engine loop
does not appear to use the Lua API in a way which can trigger errors.
But the possibility can't be fully excluded. It is, however, possible to
trigger beforehand using a perfectly wrong heap size that causes a
memory error during initialization.
Note that due to the error message buffer being freed properly now, an
error message originating from the engine will not cause a pre-arm
failure. This could be improved in the future.
If `writechar` failed because the serial buffer was full, then `tx_buf`
could be nil and appending to it would fail. Fix by letting
`writestring` handle the work in this rare case.
Also bump the version to signify the fix.
There are several bogus error messages and checks that are removed.
This should probably be refactored to use ap_objects and avoid
reallocation of the underlying bits.
Fixes:
../../libraries/AP_Scripting/lua_bindings.cpp: In function 'int lua_AP_Vehicle_set_target_velocity_NED(lua_State*)':
../../libraries/AP_Scripting/lua_bindings.cpp:1240:23: error: 'check_AP_Vehicle' was not declared in this scope; did you mean 'check_AC_Fence'?
1240 | AP_Vehicle * ud = check_AP_Vehicle(L);
| ^~~~~~~~~~~~~~~~
| check_AC_Fence
compilation terminated due to -Wfatal-errors.
docs for set_target_velocity_NED()
add set_target_angle_and_rate_and_throttle() for precise vehicle control
manual binding for set_target_velocity_NED() to allow optional boolean
update docs for attitude control
Now that startup RAM usage is not dependent on the number of bindings,
there is little need to specifically measure that phase. This combines
~700 bytes used by the string setup into the initial state usage. But
that number should very rarely change.
The `luaL_testudata` and `luaL_checkudata` functions correctly treat the
absence of a metatable for the type to check as the type not matching,
so there is no need to have the type's metatable in memory until an
object using it exists. Therefore we can defer the metatable's creation
until the first time an object of that type is created.
Saves some 4500 bytes of Lua heap RAM, at least if no such objects are
created. The created metatables are shared between all scripts, so there
is no increase in the total RAM usage if all objects are used. However,
there is some increased risk of heap fragmentation and unexpected
out-of-memory errors on rarely used code paths.
It would be nice to construct the object in the new utility function,
but it's not possible in C++ to take the address of a constructor.
Instead passing in a lambda is ugly, hardly any more efficient, and
screws up constructors which take parameters.
Also optimizes by using the generated userdata creators where possible,
and convincing the compiler to omit unnecessary checks.
The `luaL_testudata` and `luaL_checkudata` functions correctly treat the
absence of a metatable for the type to check as the type not matching,
so there is no need to have the type's metatable in memory until an
object using it exists. Therefore we can defer the metatable's creation
until the first time an object of that type is created.
Saves some 1500 bytes of Lua heap RAM, at least if no such objects are
created. The created metatables are shared between all scripts, so there
is no increase in the total RAM usage if all objects are used. However,
there is some increased risk of heap fragmentation and unexpected
out-of-memory errors on rarely used code paths.
malloc is kinda slow and we were failing to free the memory in tandem
with its original allocated size, causing Lua to believe we still had
the bytes allocated. This created misleading stats and unnecessary GC
pressure, but no actual leak.
Fix by using a stack buffer half the buffer size we use in other
functions but still big enough for the maximum possible log message.
Co-authored-by: jschall <mr.challinger@gmail.com>
The different size won't cause the `accept_msg_ids` array to be
reallocated, but it will still be zeroed up to its new size. If that's
bigger than the old one, then the heap gets corrupted, and mayhem and
destruction ensues.
Fix by only initializing the related data immediately on successful
allocation.
Push a dummy element on a dot call to make the stack look like the
generated bindings, which always expect the colon call (that pushes self
as the first argument) and the intended usage pattern.
Folds in `arg_offset = 1`. Note that none of these routines care about
the first argument as they were fine being called without it.
