Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-15 04:15:38 +03:00
Code Issues Wiki Activity

Initial code

Browse source 
This will break LCs backwards compatibility. But a small conversion tool will be simple to make.
This commit is contained in:
Darren Lines 2022-11-22 13:40:36 +00:00
parent bce0cec406
commit 775a080768
2 changed files with 47 additions and 30 deletions
Download patch file Download diff file Expand all files Collapse all files

37
src/main/programming/logic_condition.c
View file

@ -442,6 +442,27 @@ void logicConditionProcess(uint8_t i) {
}
}
static int logicConditionGetWaypointOperandValue(int operand) {
switch (operand) {
case LOGIC_CONDITION_OPERAND_WAYPOINTS_IS_WP: // 0/1
return (navGetCurrentStateFlags() & NAV_AUTO_WP) ? 1 : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_INDEX:
return NAV_Status.activeWpNumber;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_ACTION:
return NAV_Status.activeWpAction;
break;
default:
return 0;
break;
}
}
static int logicConditionGetFlightOperandValue(int operand) {
switch (operand) {
@ -555,10 +576,6 @@ static int logicConditionGetFlightOperandValue(int operand) {
return (navGetCurrentStateFlags() & NAV_AUTO_RTH) ? 1 : 0;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_IS_WP: // 0/1
return (navGetCurrentStateFlags() & NAV_AUTO_WP) ? 1 : 0;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING: // 0/1
return (navGetCurrentStateFlags() & NAV_CTL_LAND) ? 1 : 0;
break;
@ -579,14 +596,6 @@ static int logicConditionGetFlightOperandValue(int operand) {
return axisPID[PITCH];
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_INDEX:
return NAV_Status.activeWpNumber;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_WAYPOINT_ACTION:
return NAV_Status.activeWpAction;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_3D_HOME_DISTANCE: //in m
return constrain(calc_length_pythagorean_2D(GPS_distanceToHome, getEstimatedActualPosition(Z) / 100.0f), 0, INT16_MAX);
break;
@ -739,6 +748,10 @@ int logicConditionGetOperandValue(logicOperandType_e type, int operand) {
retVal = programmingPidGetOutput(operand);
}
break;
case LOGIC_CONDITION_OPERAND_TYPE_WAYPOINTS:
retVal = logicConditionGetWaypointOperandValue(operand);
break;
default:
break;