AP_Scripting: added ability to expand heap at runtime if armed

ArduPilot · Mar 15, 2024 · ac7d234 · ac7d234
1 parent c183c10
commit ac7d234
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/libraries/AP_Scripting/AP_Scripting.h b/libraries/AP_Scripting/AP_Scripting.h
@@ -151,6 +151,7 @@ class AP_Scripting
         LOG_RUNTIME = 1U << 3,
         DISABLE_PRE_ARM = 1U << 4,
         SAVE_CHECKSUM = 1U << 5,
+        DISABLE_HEAP_EXPANSION = 1U << 6,
     };
 
 private:

diff --git a/libraries/AP_Scripting/lua_scripts.cpp b/libraries/AP_Scripting/lua_scripts.cpp
@@ -45,7 +45,8 @@ lua_scripts::lua_scripts(const AP_Int32 &vm_steps, const AP_Int32 &heap_size, AP
       _debug_options(debug_options),
      terminal(_terminal)
 {
-    _heap.create(heap_size, 4);
+    const bool allow_heap_expansion = !option_is_set(AP_Scripting::DebugOption::DISABLE_HEAP_EXPANSION);
+    _heap.create(heap_size, 10, allow_heap_expansion, 20*1024);
 }
 
 lua_scripts::~lua_scripts() {