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Added some comparative operations

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Added comparative operations for constraints, min, and max.
This commit is contained in:
Darren Lines 2022-02-06 18:09:12 +00:00
parent d7760905dd
commit bdc83e4e0e
3 changed files with 25 additions and 1 deletions
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4
docs/Programming Framework.md
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@ -76,6 +76,10 @@ IPF can be edited using INAV Configurator user interface, of via CLI
| 40 | MOD | Divide `Operand A` by `Operand B` and returns the remainder | | 40 | MOD | Divide `Operand A` by `Operand B` and returns the remainder |
| 41 | LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. | | 41 | LOITER_RADIUS_OVERRIDE | Sets the loiter radius to `Operand A` [`0` : `100000`] in cm. If the value is lower than the loiter radius set in the **Advanced Tuning**, that will be used. |
| 42 | SET_PROFILE | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change | | 42 | SET_PROFILE | Sets the active config profile (PIDFF/Rates/Filters/etc) to `Operand A`. `Operand A` must be a valid profile number, currently from 1 to 3. If not, the profile will not change |
| 43 | CONSTRAIN_MIN | Ensures that `Operand A` cannot be less than `Operand B` |
| 44 | CONSTRAIN_MAX | Ensures that `Operand A` cannot be greater than `Operand B` |
| 45 | MIN | Finds the lowest value of `Operand A` and `Operand B` |
| 46 | MAX | Finds the highest value of `Operand A` and `Operand B` |
### Operands ### Operands

16
src/main/programming/logic_condition.c
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@ -303,6 +303,22 @@ static int logicConditionCompute(
temporaryValue = (operandB == 0) ? 500 : operandB; temporaryValue = (operandB == 0) ? 500 : operandB;
return tan_approx(DEGREES_TO_RADIANS(operandA)) * temporaryValue; return tan_approx(DEGREES_TO_RADIANS(operandA)) * temporaryValue;
break; break;
case LOGIC_CONDITION_CONSTRAIN_MIN:
return (operandA < operandB) ? operandB : operandA;
break;
case LOGIC_CONDITION_CONSTRAIN_MAX:
return (operandA > operandB) ? operandB : operandA;
break;
case LOGIC_CONDITION_MIN:
return (operandA < operandB) ? operandA : operandB;
break;
case LOGIC_CONDITION_MAX:
return (operandA > operandB) ? operandA : operandB;
break;
case LOGIC_CONDITION_MAP_INPUT: case LOGIC_CONDITION_MAP_INPUT:
return scaleRange(constrain(operandA, 0, operandB), 0, operandB, 0, 1000); return scaleRange(constrain(operandA, 0, operandB), 0, operandB, 0, 1000);

6
src/main/programming/logic_condition.h
View file

@ -72,7 +72,11 @@ typedef enum {
LOGIC_CONDITION_MODULUS = 40, LOGIC_CONDITION_MODULUS = 40,
LOGIC_CONDITION_LOITER_OVERRIDE = 41, LOGIC_CONDITION_LOITER_OVERRIDE = 41,
LOGIC_CONDITION_SET_PROFILE = 42, LOGIC_CONDITION_SET_PROFILE = 42,
LOGIC_CONDITION_LAST = 43, LOGIC_CONDITION_CONSTRAIN_MIN = 43,
LOGIC_CONDITION_CONSTRAIN_MAX = 44,
LOGIC_CONDITION_MIN = 45,
LOGIC_CONDITION_MAX = 46,
LOGIC_CONDITION_LAST = 47,
} logicOperation_e; } logicOperation_e;
typedef enum logicOperandType_s { typedef enum logicOperandType_s {