From 2205f73d236f13d1e7d5b87550e527e2323b84cc Mon Sep 17 00:00:00 2001
From: Jonas Elvedal Hole <jolejonaseh@gmail.com>
Date: Sat, 25 Apr 2020 19:20:41 +0200
Subject: [PATCH] Add STABILIZED_[YAW, ROLL, PITCH] for logic_condition

---
 src/main/common/logic_condition.c | 15 ++++++++++++++-
 src/main/common/logic_condition.h |  3 +++
 2 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/main/common/logic_condition.c b/src/main/common/logic_condition.c
index a4bf5483c0..7ba9dd2f1b 100644
--- a/src/main/common/logic_condition.c
+++ b/src/main/common/logic_condition.c
@@ -40,6 +40,7 @@
 #include "sensors/battery.h"
 #include "sensors/pitotmeter.h"
 #include "flight/imu.h"
+#include "flight/pid.h"
 
 #include "navigation/navigation.h"
 #include "navigation/navigation_private.h"
@@ -330,7 +331,19 @@ static int logicConditionGetFlightOperandValue(int operand) {
 
         case LOGIC_CONDITION_OPERAND_FLIGHT_IS_FAILSAFE: // 0/1
             return (failsafePhase() == FAILSAFE_RX_LOSS_MONITORING) ? 1 : 0;
-            break; 
+            break;
+        
+        case LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW: // 
+            return axisPID[YAW];
+            break;
+        
+        case LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_ROLL: // 
+            return axisPID[ROLL];
+            break;
+        
+        case LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_PITCH: // 
+            return axisPID[PITCH];
+            break;
 
         default:
             return 0;
diff --git a/src/main/common/logic_condition.h b/src/main/common/logic_condition.h
index a158875437..d5eef12d92 100644
--- a/src/main/common/logic_condition.h
+++ b/src/main/common/logic_condition.h
@@ -90,6 +90,9 @@ typedef enum {
     LOGIC_CONDITION_OPERAND_FLIGHT_IS_WP, // 0/1                            // 23
     LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING, // 0/1                       // 24
     LOGIC_CONDITION_OPERAND_FLIGHT_IS_FAILSAFE, // 0/1                      // 25
+    LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW,                          // 26
+    LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_ROLL,                         // 27
+    LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_PITCH,                        // 28
 } logicFlightOperands_e;
 
 typedef enum {