Allow ANDing of multiple channel ranges in mode activation conditions (#364)

* Allow ANDing of multiple channel ranges in mode activation conditions (CLI: set and_mode_conditions=ON)
* Moved mode logic operator to Profile (modeActivationConditions are part of profile already); Created a lookup table for logic operator
* Closes #212

src/main/config/config.c

@@ -578,6 +578,8 @@ static void resetConf(void)
 
     currentProfile->mag_declination = 0;
 
+    currentProfile->modeActivationOperator = MODE_OPERATOR_OR; // default is to OR multiple-channel mode activation conditions
+
     resetBarometerConfig(&masterConfig.barometerConfig);
 
     // Radio

src/main/config/config_profile.h

@@ -26,6 +26,7 @@ typedef struct profile_s {
                                             // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
 
     modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
+    modeActivationOperator_e modeActivationOperator;
 
     adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
 

src/main/io/rc_controls.c

@@ -28,9 +28,6 @@
 #include "common/axis.h"
 #include "common/maths.h"
 
-#include "config/config.h"
-#include "config/runtime_config.h"
-
 #include "drivers/system.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
@@ -55,6 +52,9 @@
 #include "flight/navigation_rewrite.h"
 #include "flight/failsafe.h"
 
+#include "config/config.h"
+#include "config/runtime_config.h"
+
 #include "blackbox/blackbox.h"
 
 #include "mw.h"
@@ -303,17 +303,53 @@ bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range) {
             channelValue < 900 + (range->endStep * 25));
 }
 
-void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
+void updateActivatedModes(modeActivationCondition_t *modeActivationConditions, modeActivationOperator_e modeActivationOperator)
 {
-    rcModeActivationMask = 0;
+    uint8_t modeIndex;
 
-    uint8_t index;
+    // Unfortunately for AND logic it's not enough to simply check if any of the specified channel range conditions are valid for a mode.
+    // We need to count the total number of conditions specified for each mode, and check that all those conditions are currently valid.
 
-    for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
-        modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
+    uint8_t specifiedConditionCountPerMode[CHECKBOX_ITEM_COUNT];
+    uint8_t validConditionCountPerMode[CHECKBOX_ITEM_COUNT];
+
+    memset(specifiedConditionCountPerMode, 0, CHECKBOX_ITEM_COUNT);
+    memset(validConditionCountPerMode, 0, CHECKBOX_ITEM_COUNT);
+
+    for (modeIndex = 0; modeIndex < MAX_MODE_ACTIVATION_CONDITION_COUNT; modeIndex++) {
+        modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[modeIndex];
+
+        // Increment the number of specified conditions for this mode
+        specifiedConditionCountPerMode[modeActivationCondition->modeId]++;
 
         if (isRangeActive(modeActivationCondition->auxChannelIndex, &modeActivationCondition->range)) {
-            ACTIVATE_RC_MODE(modeActivationCondition->modeId);
+            // Increment the number of valid conditions for this mode
+            validConditionCountPerMode[modeActivationCondition->modeId]++;
+        }
+    }
+
+    // Disable all modes to begin with
+    rcModeActivationMask = 0;
+
+    // Now see which modes should be enabled
+    for (modeIndex = 0; modeIndex < CHECKBOX_ITEM_COUNT; modeIndex++) {
+        // only modes with conditions specified are considered
+        if (specifiedConditionCountPerMode[modeIndex] > 0) {
+            // For AND logic, the specified condition count and valid condition count must be the same.
+            // For OR logic, the valid condition count must be greater than zero.
+
+            if (modeActivationOperator == MODE_OPERATOR_AND) {
+                // AND the conditions
+                if (validConditionCountPerMode[modeIndex] == specifiedConditionCountPerMode[modeIndex]) {
+                    ACTIVATE_RC_MODE(modeIndex);
+                }
+            }
+            else {
+                // OR the conditions
+                if (validConditionCountPerMode[modeIndex] > 0) {
+                    ACTIVATE_RC_MODE(modeIndex);
+                }
+            }
         }
     }
 }

src/main/io/rc_controls.h

@@ -144,6 +144,11 @@ typedef struct modeActivationCondition_s {
 
 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 
+typedef enum {
+    MODE_OPERATOR_OR,
+    MODE_OPERATOR_AND
+} modeActivationOperator_e;
+
 typedef struct controlRateConfig_s {
     uint8_t rcExpo8;
     uint8_t thrMid8;
@@ -170,7 +175,7 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
 rollPitchStatus_e calculateRollPitchCenterStatus(rxConfig_t *rxConfig);
 void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
 
-void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
+void updateActivatedModes(modeActivationCondition_t *modeActivationConditions, modeActivationOperator_e modeActivationOperator);
 
 
 typedef enum {

src/main/io/serial_cli.c

@@ -423,6 +423,10 @@ static const char * const lookupTableNavRthAltMode[] = {
 };
 #endif
 
+static const char * const lookupTableAuxOperator[] = {
+    "OR", "AND"
+};
+
 typedef struct lookupTableEntry_s {
     const char * const *values;
     const uint8_t valueCount;
@@ -457,6 +461,7 @@ typedef enum {
     TABLE_NAV_USER_CTL_MODE,
     TABLE_NAV_RTH_ALT_MODE,
 #endif
+    TABLE_AUX_OPERATOR,
 } lookupTableIndex_e;
 
 static const lookupTableEntry_t lookupTables[] = {
@@ -488,6 +493,7 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableNavControlMode, sizeof(lookupTableNavControlMode) / sizeof(char *) },
     { lookupTableNavRthAltMode, sizeof(lookupTableNavRthAltMode) / sizeof(char *) },
 #endif
+    { lookupTableAuxOperator, sizeof(lookupTableAuxOperator) / sizeof(char *) },
 };
 
 #define VALUE_TYPE_OFFSET 0
@@ -725,6 +731,7 @@ const clivalue_t valueTable[] = {
     { "servo_lowpass_enable",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON }, 0 },
 #endif
 
+    { "mode_range_logic_operator",  VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP,  &masterConfig.profile[0].modeActivationOperator, .config.lookup = { TABLE_AUX_OPERATOR }, 0 },
     { "default_rate_profile",       VAR_UINT8  | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0,  MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, 0 },
     { "rc_expo",                    VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, .config.minmax = { 0,  100 }, 0 },
     { "rc_yaw_expo",                VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, .config.minmax = { 0,  100 }, 0 },

src/main/mw.c

@@ -336,7 +336,7 @@ void processRx(void)
 
     processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.disarm_kill_switch);
 
-    updateActivatedModes(currentProfile->modeActivationConditions);
+    updateActivatedModes(currentProfile->modeActivationConditions, currentProfile->modeActivationOperator);
 
     if (!cliMode) {
         updateAdjustmentStates(currentProfile->adjustmentRanges);