diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 17a62218b3c8ea..5e0d8236301f99 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -47,11 +47,6 @@ def srcpath(path):
         env.SRCROOT = srcpath('')
         self.configure_env(cfg, env)
 
-        # Setup scripting:
-        env.DEFINES.update(
-            LUA_32BITS = 1,
-        )
-
         env.AP_LIBRARIES += [
             'AP_Scripting',
             'AP_Scripting/lua/src',
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua
index 9991fb3b3e4be9..b11775abd288d7 100644
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua
@@ -174,7 +174,7 @@ local function PI_controller(kP,kI,iMax)
 
    -- update the controller.
    function self.update(target, current)
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       if not _last_t then
          _last_t = now
       end
@@ -460,7 +460,7 @@ end
 local knife_edge_ms = 0
 function do_knife_edge(arg1,arg2)
   -- arg1 is angle +/-180, duration is arg2
-    local now = millis():tofloat() * 0.001
+    local now = seconds_since_boot()
     if not running then
         running = true
         height_PI.reset()
@@ -498,7 +498,7 @@ end
 -- fly level for a time..allows full altitude recovery after trick
 function do_pause(arg1,arg2)
     -- arg1 is time of pause in sec, arg2 is unused
-    local now = millis():tofloat() * 0.001
+    local now = seconds_since_boot()
     if not running then
         running = true
         height_PI.reset()
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
index 0ea2a38faef4ca..77e330c3863f16 100644
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
@@ -280,7 +280,7 @@ local function PI_controller(kP,kI,iMax,min,max)
 
    -- update the controller.
    function self.update(target, current)
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       if not _last_t then
          _last_t = now
       end
@@ -1386,7 +1386,7 @@ function rudder_over(_direction, _min_speed)
       local ahrs_quat = ahrs:get_quaternion()
       local ahrs_pos = ahrs:get_relative_position_NED_origin()
       local ahrs_gyro = ahrs:get_gyro()
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       local pitch_threshold = 60.0
 
       if target_q == nil then
@@ -1815,7 +1815,7 @@ end
 path_var.count = 0
 
 function do_path()
-   local now = millis():tofloat() * 0.001
+   local now = seconds_since_boot()
    local ahrs_pos_NED = ahrs:get_relative_position_NED_origin()
    local ahrs_pos = ahrs:get_position()
    local ahrs_gyro = ahrs:get_gyro()
diff --git a/libraries/AP_Scripting/applets/RockBlock.lua b/libraries/AP_Scripting/applets/RockBlock.lua
index be1cb8cadc3180..0781f3cf8b3a48 100644
--- a/libraries/AP_Scripting/applets/RockBlock.lua
+++ b/libraries/AP_Scripting/applets/RockBlock.lua
@@ -386,7 +386,7 @@ local function RockblockModem()
     local self = {
         is_transmitting = false,
         first_sucessful_mailbox_check = false,
-        time_last_tx = millis():tofloat() * 0.001,
+        time_last_tx = seconds_since_boot(),
         last_modem_status_check = 0,
         modem_detected = false,
         in_read_cycle = false,
@@ -601,9 +601,9 @@ local function RockblockModem()
     
     function self.checkmodem()
         --- send detect command to modem every 10 sec if not detected
-        if (millis():tofloat() * 0.001) - self.last_modem_status_check > 10 then
+       if seconds_since_boot() - self.last_modem_status_check > 10 then
             table.insert(_modem_to_send, _AT_query)
-            self.last_modem_status_check = millis():tofloat() * 0.001
+            self.last_modem_status_check = seconds_since_boot()
         end
     end
     
@@ -630,7 +630,7 @@ local function RockblockModem()
         table.insert(_modem_to_send, pkt)
         table.insert(_modem_to_send, highByte .. lowByte .. "\r")
 
-        self.time_last_tx = millis():tofloat() * 0.001
+        self.time_last_tx = seconds_since_boot()
         if RCK_ENABLE:get()  == 1 then
             table.insert(_modem_to_send, _AT_mailbox_check)
             self.is_transmitting = true
@@ -714,7 +714,7 @@ function HLSatcom()
     
     -- send HL2 packet every 30 sec, if not aleady in a mailbox check
     if rockblock.modem_detected and gcs:get_high_latency_status() and
-        (millis():tofloat() * 0.001) - rockblock.time_last_tx > RCK_PERIOD:get() and not rockblock.is_transmitting then
+       seconds_since_boot() - rockblock.time_last_tx > RCK_PERIOD:get() and not rockblock.is_transmitting then
 
         -- update HL2 packet
         hl2.timestamp = millis():tofloat()
diff --git a/libraries/AP_Scripting/applets/VTOL-quicktune.lua b/libraries/AP_Scripting/applets/VTOL-quicktune.lua
index 900bb03fec0316..8a70b00800a666 100644
--- a/libraries/AP_Scripting/applets/VTOL-quicktune.lua
+++ b/libraries/AP_Scripting/applets/VTOL-quicktune.lua
@@ -186,7 +186,7 @@ end
 
 -- get time in seconds since boot
 function get_time()
-   return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 local axis_names = { "RLL", "PIT", "YAW" }
diff --git a/libraries/AP_Scripting/applets/plane_package_place.lua b/libraries/AP_Scripting/applets/plane_package_place.lua
index 242435fc7f34b6..a0910e698107fe 100644
--- a/libraries/AP_Scripting/applets/plane_package_place.lua
+++ b/libraries/AP_Scripting/applets/plane_package_place.lua
@@ -57,7 +57,7 @@ SRV_Channels:set_output_scaled(PKG_RELEASE_FUNC:get(), 0)
 
 -- get time in seconds
 function get_time()
-   return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 -- reset state
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index b54b9ca54c2332..12e8857c75c7c3 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -36,6 +36,10 @@ function millis() end
 ---@return uint32_t_ud -- microseconds
 function micros() end
 
+-- system time in seconds
+---@return number -- seconds
+function seconds_since_boot() end
+
 -- receive mission command from running mission
 ---@return uint32_t_ud|nil -- command start time milliseconds
 ---@return integer|nil -- command param 1
diff --git a/libraries/AP_Scripting/drivers/EFI_HFE.lua b/libraries/AP_Scripting/drivers/EFI_HFE.lua
index 08a28724142317..26be2d19661444 100644
--- a/libraries/AP_Scripting/drivers/EFI_HFE.lua
+++ b/libraries/AP_Scripting/drivers/EFI_HFE.lua
@@ -34,7 +34,7 @@ function bind_add_param(name, idx, default_value)
 end
 
 function get_time_sec()
-    return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 -- Type conversion functions
diff --git a/libraries/AP_Scripting/drivers/EFI_Halo6000.lua b/libraries/AP_Scripting/drivers/EFI_Halo6000.lua
index dc6cd075b1f454..d70826c66269a2 100644
--- a/libraries/AP_Scripting/drivers/EFI_Halo6000.lua
+++ b/libraries/AP_Scripting/drivers/EFI_Halo6000.lua
@@ -31,7 +31,7 @@ function bind_add_param(name, idx, default_value)
 end
 
 function get_time_sec()
-    return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 -- Type conversion functions
diff --git a/libraries/AP_Scripting/drivers/EFI_SkyPower.lua b/libraries/AP_Scripting/drivers/EFI_SkyPower.lua
index ba75519a99b6b5..677606c438d504 100644
--- a/libraries/AP_Scripting/drivers/EFI_SkyPower.lua
+++ b/libraries/AP_Scripting/drivers/EFI_SkyPower.lua
@@ -44,7 +44,7 @@ function bind_add_param(name, idx, default_value)
 end
 
 function get_time_sec()
-    return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 -- Type conversion functions
diff --git a/libraries/AP_Scripting/examples/EFI_tester.lua b/libraries/AP_Scripting/examples/EFI_tester.lua
index 0bb2719d85e336..e1e6b469960b3a 100644
--- a/libraries/AP_Scripting/examples/EFI_tester.lua
+++ b/libraries/AP_Scripting/examples/EFI_tester.lua
@@ -31,7 +31,7 @@ local EFISIM_TYPE  = bind_add_param('TYPE', 1, 0)
 local EFISIM_RATE_HZ  = bind_add_param('RATE_HZ', 2, 100)
 
 function get_time_sec()
-   return millis():tofloat() * 0.001
+   return seconds_since_boot()
 end
 
 local FRM_100 = uint32_t(0x80000100)
diff --git a/libraries/AP_Scripting/examples/MAVLinkHL.lua b/libraries/AP_Scripting/examples/MAVLinkHL.lua
index 032f80f774a86e..49ad0dc807e192 100644
--- a/libraries/AP_Scripting/examples/MAVLinkHL.lua
+++ b/libraries/AP_Scripting/examples/MAVLinkHL.lua
@@ -27,7 +27,7 @@ end
 port:begin(19200)
 port:set_flow_control(0)
 
-local time_last_tx = millis():tofloat() * 0.001
+local time_last_tx = seconds_since_boot()
 
 -- enable high latency mode from here, instead of having to enable from GCS
 gcs:enable_high_latency_connections(true)
@@ -369,7 +369,7 @@ function HLSatcom()
     end
 
     -- send HL2 packet every 5 sec
-    if gcs:get_high_latency_status() and (millis():tofloat() * 0.001) -
+    if gcs:get_high_latency_status() and seconds_since_boot() -
         time_last_tx > 5 then
 
         -- update HL2 packet
@@ -454,7 +454,7 @@ function HLSatcom()
 
         for idx = 1, #newpkt do port:write(newpkt:byte(idx)) end
 
-        time_last_tx = millis():tofloat() * 0.001
+        time_last_tx = seconds_since_boot()
 
     end
 
diff --git a/libraries/AP_Scripting/examples/OOP_example.lua b/libraries/AP_Scripting/examples/OOP_example.lua
index d555cb4a0278e7..3b91533ccf58ed 100644
--- a/libraries/AP_Scripting/examples/OOP_example.lua
+++ b/libraries/AP_Scripting/examples/OOP_example.lua
@@ -34,7 +34,7 @@ local function PIFF(kFF,kP,kI,iMax)
 
    -- update the controller.
    function self.update(target, current)
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       if not _last_t then
          _last_t = now
       end
@@ -90,7 +90,7 @@ function PIFF2.new(kFF,kP,kI,iMax)
 end
 
 function PIFF2.update(self, target, current)
-   local now = millis():tofloat() * 0.001
+   local now = seconds_since_boot()
    if not self.last_t then
       self.last_t = now
    end
diff --git a/libraries/AP_Scripting/examples/gen_control.lua b/libraries/AP_Scripting/examples/gen_control.lua
index 018c6ce23f8c4e..33fbf64d4f7506 100644
--- a/libraries/AP_Scripting/examples/gen_control.lua
+++ b/libraries/AP_Scripting/examples/gen_control.lua
@@ -101,7 +101,7 @@ local function PI_controller(kP,kI,iMax,min,max)
 
    -- update the controller.
    function self.update(target, current)
-      local now = millis():tofloat() * 0.001
+      local now = seconds_since_boot()
       if not _last_t then
          _last_t = now
       end
diff --git a/libraries/AP_Scripting/examples/opendog_demo.lua b/libraries/AP_Scripting/examples/opendog_demo.lua
index d518b95c6e0e15..fc93592b46b0b4 100644
--- a/libraries/AP_Scripting/examples/opendog_demo.lua
+++ b/libraries/AP_Scripting/examples/opendog_demo.lua
@@ -11,7 +11,7 @@ pwm = { 1500, 1500, 2000,
 local angle = 0.0
 
 function update()
-   local t = 0.001 * millis():tofloat()
+   local t = seconds_since_boot()
    local angle = math.sin(t) * 0.5
    pwm[6] = math.floor(1500.0 + angle*500.0)
    for i = 1, 12 do
diff --git a/libraries/AP_Scripting/examples/protected_call.lua b/libraries/AP_Scripting/examples/protected_call.lua
index 7446092c5f4e2c..1e29cbeaa46191 100644
--- a/libraries/AP_Scripting/examples/protected_call.lua
+++ b/libraries/AP_Scripting/examples/protected_call.lua
@@ -6,7 +6,7 @@
 
 -- example main loop function
 function update()
-   local t = 0.001 * millis():tofloat()
+   local t = seconds_since_boot()
    gcs:send_text(0, string.format("TICK %.1fs", t))
    if math.floor(t) % 10 == 0 then
       -- deliberately make a bad call to cause a fault, asking for the 6th GPS status
diff --git a/libraries/AP_Scripting/examples/servo_scan.lua b/libraries/AP_Scripting/examples/servo_scan.lua
index 0e02d8b1d91ccd..e0cb58a801eb58 100644
--- a/libraries/AP_Scripting/examples/servo_scan.lua
+++ b/libraries/AP_Scripting/examples/servo_scan.lua
@@ -4,7 +4,7 @@ local SERVO_FUNCTION = 94
 local PERIOD = 0.5
 
 function update() -- this is the loop which periodically runs
-  local t = 0.001 * millis():tofloat()
+  local t = seconds_since_boot()
   local pi = 3.1415
   local output = math.sin(pi * t * PERIOD * 2.0)
   local pwm = math.floor(1500 + 500 * output)
diff --git a/libraries/AP_Scripting/examples/servo_slew.lua b/libraries/AP_Scripting/examples/servo_slew.lua
index 36d0f103bd788a..ab6d513614142a 100644
--- a/libraries/AP_Scripting/examples/servo_slew.lua
+++ b/libraries/AP_Scripting/examples/servo_slew.lua
@@ -29,7 +29,7 @@ function update()
    local chan = STEST_CHAN:get()
    local freq = STEST_FREQ:get()
    if chan > 0 and freq > 0 then
-      local t = 0.001 * millis():tofloat()
+      local t = seconds_since_boot()
       local pi = 3.1415
       local output = math.sin(pi * t * freq * 2.0) * STEST_PCT:get() * 0.01
       local pwm_min = STEST_PWM_MIN:get()
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index de148309913a34..6551ef69bc56d7 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -698,6 +698,7 @@ singleton i2c manual get_device lua_get_i2c_device 4
 
 global manual millis lua_millis 0
 global manual micros lua_micros 0
+global manual seconds_since_boot lua_seconds_since_boot 0
 global manual mission_receive lua_mission_receive 0
 
 userdata uint32_t creation lua_new_uint32_t 1
diff --git a/libraries/AP_Scripting/lua/src/lgc.c b/libraries/AP_Scripting/lua/src/lgc.c
index db4df82922e08b..fb1bcb69e65790 100644
--- a/libraries/AP_Scripting/lua/src/lgc.c
+++ b/libraries/AP_Scripting/lua/src/lgc.c
@@ -128,6 +128,13 @@ static void removeentry (Node *n) {
     setdeadvalue(wgkey(n));  /* unused and unmarked key; remove it */
 }
 
+/*
+  the GC code assumed pointer alignment is at least as large as
+  lua_Number. The memory allocator does align to at least 8 bytes, but
+  the compiler doesn't know this so need to suppress cast-align warnings
+ */
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-align"
 
 /*
 ** tells whether a key or value can be cleared from a weak
@@ -526,6 +533,7 @@ static lu_mem traverseLclosure (global_State *g, LClosure *cl) {
   return sizeLclosure(cl->nupvalues);
 }
 
+#pragma GCC diagnostic pop
 
 static lu_mem traversethread (global_State *g, lua_State *th) {
   StkId o = th->stack;
diff --git a/libraries/AP_Scripting/lua/src/lobject.h b/libraries/AP_Scripting/lua/src/lobject.h
index 24088614027ff5..6b5f25a9d35419 100644
--- a/libraries/AP_Scripting/lua/src/lobject.h
+++ b/libraries/AP_Scripting/lua/src/lobject.h
@@ -69,7 +69,7 @@
 /*
 ** Common type for all collectable objects
 */
-typedef struct GCObject GCObject;
+typedef struct GCObject GCObject ALIGNED_NUMBER;
 
 
 /*
@@ -84,7 +84,7 @@ typedef struct GCObject GCObject;
 */
 struct GCObject {
   CommonHeader;
-};
+} ALIGNED_NUMBER;
 
 
 
@@ -104,15 +104,15 @@ typedef union Value {
   lua_CFunction f; /* light C functions */
   lua_Integer i;   /* integer numbers */
   lua_Number n;    /* float numbers */
-} Value;
+} Value ALIGNED_NUMBER;
 
 
 #define TValuefields	Value value_; int tt_
 
 
 typedef struct lua_TValue {
-  TValuefields;
-} TValue;
+    TValuefields;
+} TValue ALIGNED_NUMBER;
 
 
 
@@ -309,7 +309,7 @@ typedef struct TString {
     size_t lnglen;  /* length for long strings */
     struct TString *hnext;  /* linked list for hash table */
   } u;
-} TString;
+} TString ALIGNED_NUMBER;
 
 
 /*
@@ -318,7 +318,7 @@ typedef struct TString {
 typedef union UTString {
   L_Umaxalign dummy;  /* ensures maximum alignment for strings */
   TString tsv;
-} UTString;
+} UTString ALIGNED_NUMBER;
 
 
 /*
@@ -349,7 +349,7 @@ typedef struct Udata {
   struct Table *metatable;
   size_t len;  /* number of bytes */
   union Value user_;  /* user value */
-} Udata;
+} Udata ALIGNED_NUMBER;
 
 
 /*
@@ -358,7 +358,7 @@ typedef struct Udata {
 typedef union UUdata {
   L_Umaxalign dummy;  /* ensures maximum alignment for 'local' udata */
   Udata uv;
-} UUdata;
+} UUdata ALIGNED_NUMBER;
 
 
 /*
@@ -387,7 +387,7 @@ typedef struct Upvaldesc {
   TString *name;  /* upvalue name (for debug information) */
   lu_byte instack;  /* whether it is in stack (register) */
   lu_byte idx;  /* index of upvalue (in stack or in outer function's list) */
-} Upvaldesc;
+} Upvaldesc ALIGNED_NUMBER;
 
 
 /*
@@ -398,7 +398,7 @@ typedef struct LocVar {
   TString *varname;
   int startpc;  /* first point where variable is active */
   int endpc;    /* first point where variable is dead */
-} LocVar;
+} LocVar ALIGNED_NUMBER;
 
 
 /*
@@ -426,7 +426,7 @@ typedef struct Proto {
   struct LClosure *cache;  /* last-created closure with this prototype */
   TString  *source;  /* used for debug information */
   GCObject *gclist;
-} Proto;
+} Proto ALIGNED_NUMBER;
 
 
 
@@ -441,26 +441,26 @@ typedef struct UpVal UpVal;
 */
 
 #define ClosureHeader \
-	CommonHeader; lu_byte nupvalues; GCObject *gclist
+    CommonHeader; lu_byte nupvalues; GCObject *gclist ALIGNED_NUMBER
 
 typedef struct CClosure {
   ClosureHeader;
   lua_CFunction f;
   TValue upvalue[1];  /* list of upvalues */
-} CClosure;
+} CClosure ALIGNED_NUMBER;
 
 
 typedef struct LClosure {
   ClosureHeader;
   struct Proto *p;
   UpVal *upvals[1];  /* list of upvalues */
-} LClosure;
+} LClosure ALIGNED_NUMBER;
 
 
 typedef union Closure {
   CClosure c;
   LClosure l;
-} Closure;
+} Closure ALIGNED_NUMBER;
 
 
 #define isLfunction(o)	ttisLclosure(o)
@@ -478,7 +478,7 @@ typedef union TKey {
     int next;  /* for chaining (offset for next node) */
   } nk;
   TValue tvk;
-} TKey;
+} TKey ALIGNED_NUMBER;
 
 
 /* copy a value into a key without messing up field 'next' */
@@ -491,7 +491,7 @@ typedef union TKey {
 typedef struct Node {
   TValue i_val;
   TKey i_key;
-} Node;
+} Node ALIGNED_NUMBER;
 
 
 typedef struct Table {
@@ -504,7 +504,7 @@ typedef struct Table {
   Node *lastfree;  /* any free position is before this position */
   struct Table *metatable;
   GCObject *gclist;
-} Table;
+} Table ALIGNED_NUMBER;
 
 
 
diff --git a/libraries/AP_Scripting/lua/src/lstate.h b/libraries/AP_Scripting/lua/src/lstate.h
index 56b374100007de..d1673c4dd7186c 100644
--- a/libraries/AP_Scripting/lua/src/lstate.h
+++ b/libraries/AP_Scripting/lua/src/lstate.h
@@ -77,7 +77,7 @@ typedef struct stringtable {
   TString **hash;
   int nuse;  /* number of elements */
   int size;
-} stringtable;
+} stringtable ALIGNED_NUMBER;
 
 
 /*
@@ -107,7 +107,7 @@ typedef struct CallInfo {
   ptrdiff_t extra;
   short nresults;  /* expected number of results from this function */
   unsigned short callstatus;
-} CallInfo;
+} CallInfo ALIGNED_NUMBER;
 
 
 /*
@@ -169,7 +169,7 @@ typedef struct global_State {
   TString *tmname[TM_N];  /* array with tag-method names */
   struct Table *mt[LUA_NUMTAGS];  /* metatables for basic types */
   TString *strcache[STRCACHE_N][STRCACHE_M];  /* cache for strings in API */
-} global_State;
+} global_State ALIGNED_NUMBER;
 
 
 /*
@@ -199,7 +199,7 @@ struct lua_State {
   unsigned short nCcalls;  /* number of nested C calls */
   l_signalT hookmask;
   lu_byte allowhook;
-};
+} ALIGNED_NUMBER;
 
 
 #define G(L)	(L->l_G)
@@ -216,7 +216,7 @@ union GCUnion {
   struct Table h;
   struct Proto p;
   struct lua_State th;  /* thread */
-};
+} ALIGNED_NUMBER;
 
 
 #define cast_u(o)	cast(union GCUnion *, (o))
diff --git a/libraries/AP_Scripting/lua/src/luaconf.h b/libraries/AP_Scripting/lua/src/luaconf.h
index f148e1d48ff0a7..f328ce1875839a 100644
--- a/libraries/AP_Scripting/lua/src/luaconf.h
+++ b/libraries/AP_Scripting/lua/src/luaconf.h
@@ -19,6 +19,20 @@
 #endif
 #include <AP_Scripting/lua_common_defs.h>
 
+// use 32 bit number and integer types if we don't have hardware double supportx
+#if !HAL_HAVE_HARDWARE_DOUBLE
+#define LUA_32BITS 1
+#define ALIGNED_NUMBER
+#else
+// ChibiOS does not define LLONG_MAX
+#ifndef LLONG_MAX
+#define LLONG_MAX 9223372036854775807LL
+#define LLONG_MIN (-LLONG_MAX - 1)
+#endif
+#pragma GCC diagnostic error "-Wframe-larger-than=3000"
+#define ALIGNED_NUMBER __attribute__((aligned(8)))
+#endif // HAL_HAVE_HARDWARE_DOUBLE
+
 /*
 ** ===================================================================
 ** Search for "@@" to find all configurable definitions.
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index d27cd3c5648cae..fb4613c8f12241 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -43,6 +43,13 @@ int lua_micros(lua_State *L) {
     return 1;
 }
 
+// seconds_since_boot
+int lua_seconds_since_boot(lua_State *L) {
+    binding_argcheck(L, 0);
+    lua_pushnumber(L, AP_HAL::micros64()*1.0e-6);
+    return 1;
+}
+
 int lua_mavlink_init(lua_State *L) {
     binding_argcheck(L, 2);
     WITH_SEMAPHORE(AP::scripting()->mavlink_data.sem);
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index 2b9f6f34c5e39d..841d6bbd97bf62 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -4,6 +4,7 @@
 
 int lua_millis(lua_State *L);
 int lua_micros(lua_State *L);
+int lua_seconds_since_boot(lua_State *L);
 int lua_mission_receive(lua_State *L);
 int AP_Logger_Write(lua_State *L);
 int lua_get_i2c_device(lua_State *L);
diff --git a/libraries/AP_Scripting/lua_boxed_numerics.cpp b/libraries/AP_Scripting/lua_boxed_numerics.cpp
index fe2304df978ef5..19da0e931c7fe1 100644
--- a/libraries/AP_Scripting/lua_boxed_numerics.cpp
+++ b/libraries/AP_Scripting/lua_boxed_numerics.cpp
@@ -17,10 +17,7 @@ uint32_t coerce_to_uint32_t(lua_State *L, int arg) {
         }
     }
     { // integer
-
-        // if this assert fails, you will need to add an upper bounds
-        // check that ensures the value isn't greater then UINT32_MAX
-        static_assert(sizeof(lua_Number) == sizeof(uint32_t), "32 bit integers are only supported");
+        static_assert(sizeof(lua_Number) == sizeof(lua_Integer), "sizes of lua_Number and lua_Integer must match");
 
         int success;
         const lua_Integer v = lua_tointegerx(L, arg, &success);