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Add ability to check actions on next WP

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This commit is contained in:
Darren Lines 2022-12-19 13:01:32 +00:00
parent fe2e151583
commit 812308a482
2 changed files with 37 additions and 7 deletions
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26
src/main/programming/logic_condition.c
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@ -457,6 +457,16 @@ static int logicConditionGetWaypointOperandValue(int operand) {
return NAV_Status.activeWpAction;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_NEXT_WAYPOINT_ACTION:
{
uint8_t wpIndex = posControl.activeWaypointIndex + 1;
if ((wpIndex > 0) && (wpIndex < NAV_MAX_WAYPOINTS)) {
return posControl.waypointList[wpIndex].action;
}
return false;
}
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_WAYPOINT_DISTANCE:
{
uint32_t distance = 0;
@ -509,6 +519,22 @@ static int logicConditionGetWaypointOperandValue(int operand) {
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex-1].p3 & NAV_WP_USER4) == NAV_WP_USER4) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER1_ACTION_NEXT_WP:
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex].p3 & NAV_WP_USER1) == NAV_WP_USER1) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER2_ACTION_NEXT_WP:
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex].p3 & NAV_WP_USER2) == NAV_WP_USER2) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER3_ACTION_NEXT_WP:
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex].p3 & NAV_WP_USER3) == NAV_WP_USER3) : 0;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER4_ACTION_NEXT_WP:
return (NAV_Status.activeWpIndex > 0) ? ((posControl.waypointList[NAV_Status.activeWpIndex].p3 & NAV_WP_USER4) == NAV_WP_USER4) : 0;
break;
default:
return 0;
break;