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Code Issues Wiki Activity

Corrected user actions and updated docs

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Darren Lines 2022-11-24 08:04:52 +00:00
parent b2ad70329b
commit b5da2ca7d3
2 changed files with 45 additions and 35 deletions
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72
docs/Programming Framework.md
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@ -119,37 +119,21 @@ IPF can be edited using INAV Configurator user interface, of via CLI
| 20 | IS_POSITION_CONTROL | boolean `0`/`1` |
| 21 | IS_EMERGENCY_LANDING | boolean `0`/`1` |
| 22 | IS_RTH | boolean `0`/`1` |
| 23 | IS_WP | boolean `0`/`1` |
| 24 | IS_LANDING | boolean `0`/`1` |
| 25 | IS_FAILSAFE | boolean `0`/`1` |
| 26 | STABILIZED_ROLL | Roll PID controller output `[-500:500]` |
| 27 | STABILIZED_PITCH | Pitch PID controller output `[-500:500]` |
| 28 | STABILIZED_YAW | Yaw PID controller output `[-500:500]` |
| 29 | ACTIVE_WAYPOINT_INDEX | Indexed from `1`. To verify WP is in progress, use `IS_WP` |
| 30 | ACTIVE_WAYPOINT_ACTION | See ACTIVE_WAYPOINT_ACTION paragraph |
| 31 | 3D HOME_DISTANCE | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
| 32 | CROSSFIRE LQ | Crossfire Link quality as returned by the CRSF protocol |
| 33 | CROSSFIRE SNR | Crossfire SNR as returned by the CRSF protocol |
| 34 | GPS_VALID | boolean `0`/`1`. True when the GPS has a valid 3D Fix |
| 35 | LOITER_RADIUS | The current loiter radius in cm. |
| 36 | ACTIVE_PROFILE | integer for the active config profile `[1..MAX_PROFILE_COUNT]` |
| 37 | BATT_CELLS | Number of battery cells detected |
| 38 | AGL_STATUS | boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |
| 39 | AGL | integer Above The Groud Altitude in `cm` |
| 40 | RANGEFINDER_RAW | integer raw distance provided by the rangefinder in `cm` |
#### ACTIVE_WAYPOINT_ACTION
| Action | Value |
|---------------|-------|
| WAYPOINT | 1 |
| HOLD_TIME | 3 |
| RTH | 4 |
| SET_POI | 5 |
| JUMP | 6 |
| SET_HEAD | 7 |
| LAND | 8 |
| 23 | IS_LANDING | boolean `0`/`1` |
| 24 | IS_FAILSAFE | boolean `0`/`1` |
| 25 | STABILIZED_ROLL | Roll PID controller output `[-500:500]` |
| 26 | STABILIZED_PITCH | Pitch PID controller output `[-500:500]` |
| 27 | STABILIZED_YAW | Yaw PID controller output `[-500:500]` |
| 28 | 3D HOME_DISTANCE | in `meters`, calculated from HOME_DISTANCE and ALTITUDE using Pythagorean theorem |
| 29 | CROSSFIRE LQ | Crossfire Link quality as returned by the CRSF protocol |
| 30 | CROSSFIRE SNR | Crossfire SNR as returned by the CRSF protocol |
| 31 | GPS_VALID | boolean `0`/`1`. True when the GPS has a valid 3D Fix |
| 32 | LOITER_RADIUS | The current loiter radius in cm. |
| 33 | ACTIVE_PROFILE | integer for the active config profile `[1..MAX_PROFILE_COUNT]` |
| 34 | BATT_CELLS | Number of battery cells detected |
| 35 | AGL_STATUS | boolean `1` when AGL can be trusted, `0` when AGL estimate can not be trusted |
| 36 | AGL | integer Above The Groud Altitude in `cm` |
| 37 | RANGEFINDER_RAW | integer raw distance provided by the rangefinder in `cm` |
#### FLIGHT_MODE
@ -167,6 +151,32 @@ IPF can be edited using INAV Configurator user interface, of via CLI
| 9 | USER1 | |
| 10 | USER2 | |
#### WAYPOINTS
| Operand Value | Name | Notes |
|---------------|-------------------------------|-------|
| 0 | Is WP | boolean `0`/`1` |
| 1 | Current Waypoint Index | Current waypoint leg. Indexed from `1`. To verify WP is in progress, use `Is WP` |
| 2 | Current Waypoint Action | Action active in current leg. See ACTIVE_WAYPOINT_ACTION table |
| 3 | Distance to next Waypoint | Distance to next WP in metres |
| 4 | Distance from Waypoint | Distance from the last WP in metres |
| 5 | User Action 1 | User Action 1 is active on this waypoint leg [boolean `0`/`1`] |
| 6 | User Action 2 | User Action 2 is active on this waypoint leg [boolean `0`/`1`] |
| 7 | User Action 3 | User Action 3 is active on this waypoint leg [boolean `0`/`1`] |
| 8 | User Action 4 | User Action 4 is active on this waypoint leg [boolean `0`/`1`] |
#### ACTIVE_WAYPOINT_ACTION
| Action | Value |
|---------------|-------|
| WAYPOINT | 1 |
| HOLD_TIME | 3 |
| RTH | 4 |
| SET_POI | 5 |
| JUMP | 6 |
| SET_HEAD | 7 |
| LAND | 8 |
### Flags

8
src/main/programming/logic_condition.c
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@ -494,19 +494,19 @@ static int logicConditionGetWaypointOperandValue(int operand) {
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER1_ACTION:
return posControl.waypointList[NAV_Status.activeWpNumber-1].p3 == NAV_WP_USER1;
return posControl.waypointList[NAV_Status.activeWpNumber].p3 == NAV_WP_USER1;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER2_ACTION:
return posControl.waypointList[NAV_Status.activeWpNumber-1].p3 == NAV_WP_USER2;
return posControl.waypointList[NAV_Status.activeWpNumber].p3 == NAV_WP_USER2;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER3_ACTION:
return posControl.waypointList[NAV_Status.activeWpNumber-1].p3 == NAV_WP_USER3;
return posControl.waypointList[NAV_Status.activeWpNumber].p3 == NAV_WP_USER3;
break;
case LOGIC_CONDITION_OPERAND_WAYPOINTS_USER4_ACTION:
return posControl.waypointList[NAV_Status.activeWpNumber-1].p3 == NAV_WP_USER4;
return posControl.waypointList[NAV_Status.activeWpNumber].p3 == NAV_WP_USER4;
break;
default: