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Add the new logic conditions definitions

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2022-04-06 11:18:53 +02:00
parent adaef39172
commit 8be0247dec
3 changed files with 56 additions and 3 deletions
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43
src/main/programming/logic_condition.c
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@ -59,6 +59,7 @@ PG_REGISTER_ARRAY_WITH_RESET_FN(logicCondition_t, MAX_LOGIC_CONDITIONS, logicCon
EXTENDED_FASTRAM uint64_t logicConditionsGlobalFlags;
EXTENDED_FASTRAM int logicConditionValuesByType[LOGIC_CONDITION_LAST];
EXTENDED_FASTRAM rcChannelOverride_t rcChannelOverrides[MAX_SUPPORTED_RC_CHANNEL_COUNT];
EXTENDED_FASTRAM flightAxisOverride_t flightAxisOverride[XYZ_AXIS_COUNT];
void pgResetFn_logicConditions(logicCondition_t *instance)
{
@ -363,7 +364,42 @@ static int logicConditionCompute(
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_LOITER_RADIUS);
return true;
break;
case LOGIC_CONDITION_FLIGTH_AXIS_ANGLE_OVERRIDE:
if (operandA >= 0 && operandA <= 2) {
flightAxisOverride[operandA].angleTargetActive = true;
int target = DEGREES_TO_DECIDEGREES(operandB);
if (operandA == 0) {
//ROLL
target = constrain(target, -pidProfile()->max_angle_inclination[FD_ROLL], pidProfile()->max_angle_inclination[FD_ROLL]);
} else if (operandA == 1) {
//PITCH
target = constrain(target, -pidProfile()->max_angle_inclination[FD_PITCH], pidProfile()->max_angle_inclination[FD_PITCH]);
} else if (operandA == 2) {
//YAW
target = (constrain(target, 0, 3600));
}
flightAxisOverride[operandA].angleTarget = target;
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_FLIGHT_AXIS);
return true;
} else {
return false;
}
break;
case LOGIC_CONDITION_FLIGTH_AXIS_RATE_OVERRIDE:
if (operandA >= 0 && operandA <= 2) {
flightAxisOverride[operandA].rateTargetActive = true;
flightAxisOverride[operandA].rateTarget = constrain(operandB, -2000, 2000);
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_FLIGHT_AXIS);
return true;
} else {
return false;
}
break;
default:
return false;
break;
@ -710,6 +746,11 @@ void logicConditionUpdateTask(timeUs_t currentTimeUs) {
rcChannelOverrides[i].active = false;
}
for (uint8_t i = 0; i < XYZ_AXIS_COUNT; i++) {
flightAxisOverride[i].rateTargetActive = false;
flightAxisOverride[i].angleTargetActive = false;
}
for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
logicConditionProcess(i);
}