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Merge remote-tracking branch 'upstream/master' into abo_acro_attitude_hold

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This commit is contained in:
breadoven 2023-10-13 10:53:43 +01:00
commit 7547d67eae
235 changed files with 3556 additions and 2022 deletions
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14
src/main/programming/logic_condition.c
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@ -46,6 +46,7 @@
#include "sensors/rangefinder.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "flight/mixer_profile.h"
#include "drivers/io_port_expander.h"
#include "io/osd_common.h"
#include "sensors/diagnostics.h"
@ -424,6 +425,7 @@ static int logicConditionCompute(
pidInit();
pidInitFilters();
schedulePidGainsUpdate();
navigationUsePIDs(); //set navigation pid gains
profileChanged = true;
}
return profileChanged;
@ -702,6 +704,10 @@ static int logicConditionGetFlightOperandValue(int operand) {
return constrain(attitude.values.pitch / 10, -180, 180);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_YAW: // deg
return constrain(attitude.values.yaw / 10, 0, 360);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_IS_ARMED: // 0/1
return ARMING_FLAG(ARMED) ? 1 : 0;
break;
@ -769,6 +775,14 @@ static int logicConditionGetFlightOperandValue(int operand) {
case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_PROFILE: // int
return getConfigProfile() + 1;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_ACTIVE_MIXER_PROFILE: // int
return currentMixerProfileIndex + 1;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MIXER_TRANSITION_ACTIVE: //0,1
return isMixerTransitionMixing ? 1 : 0;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS:
return getLoiterRadius(navConfig()->fw.loiter_radius);