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Merge branch 'master' into change-profiles-with-programming

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This commit is contained in:
Darren Lines 2021-10-28 18:37:24 +01:00
commit 787e9a76b2
22 changed files with 325 additions and 82 deletions
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38
src/main/programming/logic_condition.c
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@ -83,10 +83,10 @@ void pgResetFn_logicConditions(logicCondition_t *instance)
logicConditionState_t logicConditionStates[MAX_LOGIC_CONDITIONS];
static int logicConditionCompute(
int currentVaue,
int32_t currentVaue,
logicOperation_e operation,
int operandA,
int operandB
int32_t operandA,
int32_t operandB
) {
int temporaryValue;
vtxDeviceCapability_t vtxDeviceCapability;
@ -177,20 +177,20 @@ static int logicConditionCompute(
break;
case LOGIC_CONDITION_ADD:
return constrain(operandA + operandB, INT16_MIN, INT16_MAX);
return constrain(operandA + operandB, INT32_MIN, INT32_MAX);
break;
case LOGIC_CONDITION_SUB:
return constrain(operandA - operandB, INT16_MIN, INT16_MAX);
return constrain(operandA - operandB, INT32_MIN, INT32_MAX);
break;
case LOGIC_CONDITION_MUL:
return constrain(operandA * operandB, INT16_MIN, INT16_MAX);
return constrain(operandA * operandB, INT32_MIN, INT32_MAX);
break;
case LOGIC_CONDITION_DIV:
if (operandB != 0) {
return constrain(operandA / operandB, INT16_MIN, INT16_MAX);
return constrain(operandA / operandB, INT32_MIN, INT32_MAX);
} else {
return operandA;
}
@ -328,7 +328,7 @@ static int logicConditionCompute(
case LOGIC_CONDITION_MODULUS:
if (operandB != 0) {
return constrain(operandA % operandB, INT16_MIN, INT16_MAX);
return constrain(operandA % operandB, INT32_MIN, INT32_MAX);
} else {
return operandA;
}
@ -350,6 +350,12 @@ static int logicConditionCompute(
}
break;
case LOGIC_CONDITION_LOITER_OVERRIDE:
logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE] = constrain(operandA, 0, 100000);
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS);
return true;
break;
default:
return false;
break;
@ -554,6 +560,9 @@ static int logicConditionGetFlightOperandValue(int operand) {
return getConfigProfile() + 1;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_LOITER_RADIUS:
return getLoiterRadius(navConfig()->fw.loiter_radius);
default:
return 0;
break;
@ -741,3 +750,16 @@ int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue) {
return originalValue;
}
}
uint32_t getLoiterRadius(uint32_t loiterRadius) {
#ifdef USE_PROGRAMMING_FRAMEWORK
if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS) &&
!(FLIGHT_MODE(FAILSAFE_MODE) || FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_WP_MODE) || navigationIsExecutingAnEmergencyLanding())) {
return constrain(logicConditionValuesByType[LOGIC_CONDITION_LOITER_OVERRIDE], loiterRadius, 100000);
} else {
return loiterRadius;
}
#else
return loiterRadius;
#endif
}