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Added documentation about GVARs, PIDFF Controllers, & Integer Math

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- Added information about integer math
- Added divide-by-0 information
- Added numerical limits of GVARs
- Added helpful information about PIDFF controllers
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trailx 2024-09-03 09:03:25 -04:00 • committed by GitHub
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docs/Programming Framework.md
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@ -24,6 +24,8 @@ INAV Programming Framework consists of:
IPF can be edited using INAV Configurator user interface, or via CLI. To use COnfigurator, click the tab labeled
"Programming". The various options shown in Configurator are described below.
**Note:** IPF uses non-floating-point math, so it only can return integers. If your programming line returns a decimal, it will be reduced an integer. So if your math is `1` / `3` = , IPF will truncate the decimal and return `0`.
## Logic Conditions
### CLI
@ -61,9 +63,8 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
| 14 | Basic: Add | Add `Operand A` to `Operand B` and returns the result |
| 15 | Basic: Subtract | Substract `Operand B` from `Operand A` and returns the result |
| 16 | Basic: Multiply | Multiply `Operand A` by `Operand B` and returns the result |
| 17 | Basic: Divide | Divide `Operand A` by `Operand B` and returns the result |
| 18 | Set GVAR | Store value from `Operand B` into the Global Variable addressed by
`Operand A`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
| 17 | Basic: Divide | Divide `Operand A` by `Operand B` and returns the result. NOTE: If `Operand B` = `0`, the `Divide` operation will simply return `Operand A`|
| 18 | Set GVAR | Store value from `Operand B` into the Global Variable addressed by `Operand A`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
| 19 | Increase GVAR | Increase the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` |
| 20 | Decrease GVAR | Decrease the GVAR indexed by `Operand A` (use `Value 1` for Global Variable 1) with value from `Operand B` |
| 21 | Set IO Port | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
@ -233,8 +234,15 @@ All flags are reseted on ARM and DISARM event.
`gvar <index> <default value> <min> <max>`
**Note:** Global Variables (GVARs) are limited to integers between negative `-32768` and positive `32767`.
## Programming PID
IPF makes a set of general user PIDFF controllers avaliable for use in your program. These PIDFF controllers are not tied to any roll/pitch/yaw profiles or other controls.
The output of these controllers can be used in an IPF program by using the `Programming PID` operand.
The `<setpoint value>` of the controller is the target value for the controller to hit. The `<measurement value>` is the measurement of the current value. For instance, `<setpoint value>` could be the speed you want to go, and `<measurement value>` is the current speed.
P, I, D, and FF values will need to be manually adjusted to determine the appropriate value for the program and controller.
`pid <index> <enabled> <setpoint type> <setpoint value> <measurement type> <measurement value> <P gain> <I gain> <D gain> <FF gain>`
* `<index>` - ID of PID Controller, starting from `0`