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Merge pull request #8747 from iNavFlight/MrD_Update-flight-mode-operand-in-programming

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Update Flight Mode operand in programming framework
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Paweł Spychalski 2023-01-29 08:29:27 +01:00 • committed by GitHub
commit b355551789
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3 changed files with 33 additions and 16 deletions
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34
docs/Programming Framework.md
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@ -143,19 +143,24 @@ IPF can be edited using INAV Configurator user interface, of via CLI
#### FLIGHT_MODE
| Operand Value | Name | Notes |
|---------------|-----------|-------|
| 0 | FAILSAFE | |
| 1 | MANUAL | |
| 2 | RTH | |
| 3 | POSHOLD | |
| 4 | CRUISE | |
| 5 | ALTHOLD | |
| 6 | ANGLE | |
| 7 | HORIZON | |
| 8 | AIR | |
| 9 | USER1 | |
| 10 | USER2 | |
| Operand Value | Name | Notes |
|---------------|-------------------|-------|
| 0 | FAILSAFE | |
| 1 | MANUAL | |
| 2 | RTH | |
| 3 | POSHOLD | |
| 4 | CRUISE | |
| 5 | ALTHOLD | |
| 6 | ANGLE | |
| 7 | HORIZON | |
| 8 | AIR | |
| 9 | USER1 | |
| 10 | USER2 | |
| 11 | COURSE_HOLD | |
| 12 | USER3 | |
| 13 | USER4 | |
| 14 | ACRO | |
| 15 | WAYPOINT_MISSION | |
#### WAYPOINTS
@ -195,7 +200,8 @@ All flags are reseted on ARM and DISARM event.
| bit | Decimal | Function |
|-------|-----------|-----------|
| 0 | 1 | Latch - after activation LC will stay active until LATCH flag is reseted |
| 0 | 1 | Latch - after activation LC will stay active until LATCH flag is reset |
| 1 | 2 | Timeout satisfied - Used in timed operands to determine if the timeout has been met |
## Global variables

13
src/main/programming/logic_condition.c
View file

@ -808,12 +808,16 @@ static int logicConditionGetFlightModeOperandValue(int operand) {
return (bool) FLIGHT_MODE(NAV_POSHOLD_MODE);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_WAYPOINT_MISSION:
return (bool) FLIGHT_MODE(NAV_WP_MODE);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_COURSE_HOLD:
return (bool) FLIGHT_MODE(NAV_COURSE_HOLD_MODE);
return ((bool) FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && !(bool)FLIGHT_MODE(NAV_ALTHOLD_MODE));
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_CRUISE:
return (bool)(FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE));
return (bool) (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE));
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ALTHOLD:
@ -832,6 +836,11 @@ static int logicConditionGetFlightModeOperandValue(int operand) {
return (bool) FLIGHT_MODE(AIRMODE_ACTIVE);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ACRO:
return (((bool) FLIGHT_MODE(ANGLE_MODE) || (bool) FLIGHT_MODE(HORIZON_MODE) || (bool) FLIGHT_MODE(MANUAL_MODE) || (bool) FLIGHT_MODE(NAV_RTH_MODE) ||
(bool) FLIGHT_MODE(NAV_POSHOLD_MODE) || (bool) FLIGHT_MODE(NAV_COURSE_HOLD_MODE) || (bool) FLIGHT_MODE(NAV_WP_MODE)) == false);
break;
case LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER1:
return IS_RC_MODE_ACTIVE(BOXUSER1);
break;

2
src/main/programming/logic_condition.h
View file

@ -152,6 +152,8 @@ typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_COURSE_HOLD, // 11
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER3, // 12
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_USER4, // 13
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ACRO, // 14
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_WAYPOINT_MISSION, // 15
} logicFlightModeOperands_e;
typedef enum {