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Merge pull request #5623 from joleeee/stabilizedlogic

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Add STABILIZED_[YAW, ROLL, PITCH] for logic_condition
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Paweł Spychalski 2020-04-26 11:20:32 +02:00 • committed by GitHub
commit ad6df2b655
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2 changed files with 18 additions and 2 deletions
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15
src/main/common/logic_condition.c
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@ -40,6 +40,7 @@
#include "sensors/battery.h"
#include "sensors/pitotmeter.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
@ -330,7 +331,19 @@ static int logicConditionGetFlightOperandValue(int operand) {
case LOGIC_CONDITION_OPERAND_FLIGHT_IS_FAILSAFE: // 0/1
return (failsafePhase() == FAILSAFE_RX_LOSS_MONITORING) ? 1 : 0;
break;
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW: //
return axisPID[YAW];
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_ROLL: //
return axisPID[ROLL];
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_PITCH: //
return axisPID[PITCH];
break;
default:
return 0;

5
src/main/common/logic_condition.h
View file

@ -90,6 +90,9 @@ typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_IS_WP, // 0/1 // 23
LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING, // 0/1 // 24
LOGIC_CONDITION_OPERAND_FLIGHT_IS_FAILSAFE, // 0/1 // 25
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_ROLL, // 26
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_PITCH, // 27
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW, // 28
} logicFlightOperands_e;
typedef enum {
@ -135,4 +138,4 @@ int logicConditionGetOperandValue(logicOperandType_e type, int operand);
int logicConditionGetValue(int8_t conditionId);
void logicConditionUpdateTask(timeUs_t currentTimeUs);
void logicConditionReset(void);
void logicConditionReset(void);